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Ground Speed Optical Estimator for Miniature UAV.

Piotr Chmielewski1, Krzysztof Sibilski2

  • 1Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical Engineering, Doctoral School No. 4, Warsaw University of Technology, 00-665 Warsaw, Poland.

Sensors (Basel, Switzerland)
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PubMed
Summary

This study presents an optics-based system for estimating Unmanned Aerial Vehicle (UAV) ground speed without Global Navigation Satellite System (GNSS). This software-only solution enhances navigation systems by using onboard cameras, improving UAV reliability.

Keywords:
MUAVUAVdrift estimationoptical sensortemplate matching

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Computer Vision

Background:

  • Conventional Unmanned Aerial Vehicle (UAV) navigation relies heavily on Global Navigation Satellite System (GNSS) sensors for trajectory generation.
  • Video tracking systems also often require GNSS data for optimal performance.
  • GNSS failure, jamming, or unavailability poses a significant challenge to UAV navigation.

Purpose of the Study:

  • To develop an optics-based system for estimating UAV ground speed during GNSS outages.
  • To integrate this system into existing UAVs via software updates, enhancing navigation capabilities.
  • To compute wind velocity and drift by combining ground speed with airspeed and altitude data.

Main Methods:

  • Utilizing a camera mounted on the UAV's belly.
  • Employing digital image cropping, real-time image stabilization, and template matching algorithms to determine ground speed.
  • Combining computed ground speed vector components with airspeed and altitude measurements to calculate wind velocity and drift.

Main Results:

  • An algorithm was developed for real-time onboard computation of ground speed, wind velocity, and drift.
  • The system was successfully tested in Software-in-the-loop simulations and implemented on UAV hardware.
  • Experimental results demonstrated the effectiveness of the optics-based navigation enhancement.

Conclusions:

  • The developed optics-based system provides a viable solution for UAV navigation during GNSS unavailability.
  • This approach allows for software-only upgrades to existing Micro Unmanned Aerial Vehicle (MUAV) products with embedded cameras.
  • The findings are particularly significant for scenarios where hardware upgrades are economically unfeasible or impossible.