Relative Pose Estimation of Unmanned Aerial Systems

2018 ◽  
Author(s):  
Athanasios Tsoukalas ◽  
Anthony Tzes ◽  
Farshad Khorrami
Keyword(s):  
Pose Estimation ◽  
Unmanned Aerial Systems ◽  
Relative Pose ◽  
Aerial Systems

scholarly journals Robust Moving Target Handoff in GPS-Denied Environments

2021 ◽  
Author(s):  
Randal Beard ◽  
Skyler Tolman ◽  
Devon Morris ◽  
Cameron K. Peterson ◽  
Riten Gupta
Keyword(s):  
Pose Estimation ◽  
Visual Target ◽  
Flight Time ◽  
Procrustes Analysis ◽  
Unmanned Aerial Systems ◽  
Moving Target ◽  
Hand Off ◽  
Multiple Vehicles ◽  
Visual Target Tracking ◽  
Aerial Systems

Unmanned aerial systems (UAS) are effective for surveillance and monitoring, but struggle with persistent, longterm tracking due to limited flight time. Persistent tracking can be accomplished using multiple vehicles if one vehicle can effectively hand off the tracking information to another replacement vehicle. In this paper we propose a solution to the moving-target handoff problem in the absence of GPS. The proposed solution uses a nonlinear complimentary filter for self-pose estimation using only an IMU, a particle filter for relative pose estimation between UAS using a relative range measurement, visual target tracking using a gimballed camera when the target is close to the handoff UAS, and track correlation logic using Procrustes analysis to perform the final target handoff between vehicles. We present extensive simulation results that demonstrates the effectiveness of our approach and perform Monte-Carlo simulations that indicate a 97% successful handoff rate using the proposed methods.

scholarly journals Robust Moving Target Handoff in GPS-Denied Environments

2021 ◽  
Author(s):  
Randal Beard ◽  
Skyler Tolman ◽  
Devon Morris ◽  
Cameron K. Peterson ◽  
Riten Gupta
Keyword(s):  
Pose Estimation ◽  
Visual Target ◽  
Flight Time ◽  
Procrustes Analysis ◽  
Unmanned Aerial Systems ◽  
Moving Target ◽  
Hand Off ◽  
Multiple Vehicles ◽  
Visual Target Tracking ◽  
Aerial Systems

Unmanned aerial systems (UAS) are effective for surveillance and monitoring, but struggle with persistent, longterm tracking due to limited flight time. Persistent tracking can be accomplished using multiple vehicles if one vehicle can effectively hand off the tracking information to another replacement vehicle. In this paper we propose a solution to the moving-target handoff problem in the absence of GPS. The proposed solution uses a nonlinear complimentary filter for self-pose estimation using only an IMU, a particle filter for relative pose estimation between UAS using a relative range measurement, visual target tracking using a gimballed camera when the target is close to the handoff UAS, and track correlation logic using Procrustes analysis to perform the final target handoff between vehicles. We present extensive simulation results that demonstrates the effectiveness of our approach and perform Monte-Carlo simulations that indicate a 97% successful handoff rate using the proposed methods.

LIGHTER-THAN-AIR (LTA) UNMANNED AERIAL SYSTEM (UAS) CARRIER CONCEPT FOR SURVAILLANCE AND DISASTER MANAGEMENT

2019 ◽  
Vol 3 ◽  
pp. 1255
Author(s):  
Ahmad Salahuddin Mohd Harithuddin ◽  
Mohd Fazri Sedan ◽  
Syaril Azrad Md Ali ◽  
Shattri Mansor ◽  
Hamid Reza Jifroudi ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Disaster Management ◽  
Unmanned Aerial Systems ◽  
Unmanned Aerial System ◽  
Border Control ◽  
Aerial Vehicles ◽  
Operational Safety ◽  
In Situ Methods ◽  
Aerial Systems

Unmanned aerial systems (UAS) has many advantages in the fields of SURVAILLANCE and disaster management compared to space-borne observation, manned missions and in situ methods. The reasons include cost effectiveness, operational safety, and mission efficiency. This has in turn underlined the importance of UAS technology and highlighted a growing need in a more robust and efficient unmanned aerial vehicles to serve specific needs in SURVAILLANCE and disaster management. This paper first gives an overview on the framework for SURVAILLANCE particularly in applications of border control and disaster management and lists several phases of SURVAILLANCE and service descriptions. Based on this overview and SURVAILLANCE phases descriptions, we show the areas and services in which UAS can have significant advantage over traditional methods.

Beach and dune impacts due to Hurricane Florence in Dare County, North Carolina

Shore & Beach ◽  
2019 ◽  
pp. 44-49 ◽  
Author(s):  
Elizabeth Sciaudone ◽  
Liliana Velasquez-Montoya
Keyword(s):  
North Carolina ◽  
Prior Knowledge ◽  
Unmanned Aerial Systems ◽  
State University ◽  
National Wildlife Refuge ◽  
Sediment Samples ◽  
Wildlife Refuge ◽  
Full Report ◽  
Aerial Systems

Less than two weeks after Hurricane Florence made landfall in North Carolina (NC), a team of researchers from NC State University traveled to Dare County to investigate the storm’s effects on beaches and dunes. Using available post-storm imagery and prior knowledge of vulnerabilities in the system, the team identified several locations to visit in the towns of Kitty Hawk, Nags Head, Rodanthe, Buxton, and Hatteras, as well as a number of locations within the Pea Island National Wildlife Refuge (Figure 1). Data collected included topographic profiles, still imagery and video from unmanned aerial systems, sediment samples, and geo-located photography. This Coastal Observations piece presents some of the data and photos collected; the full report is available online (Sciaudone et al. 2019), and data collected will be made available to interested researchers upon request.

A Comparative Economic Study on the Use of Unmanned Aerial Systems versus Motorcycles to Transport Laboratory Samples in Liberia

2019 ◽  
Author(s):  
Walter Ochieng ◽  
Tun Ye ◽  
Christina M. Scheel ◽  
Aun Lor ◽  
John M. Saindon ◽  
...  
Keyword(s):  
Unmanned Aerial Systems ◽  
Economic Study ◽  
Aerial Systems
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