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.

VISUAL TARGET TRACKING, EXTRACTION AND RECOGNITION FROM A SEQUENCE OF IMAGES USING THE LG GRAPH APPROACH

2002 ◽  
Vol 11 (04) ◽  
pp. 513-529 ◽  
Author(s):  
NIKOLAOS G. BOURBAKIS
Keyword(s):  
Feature Extraction ◽  
Edge Detection ◽  
Target Tracking ◽  
Visual Target ◽  
Region Growing ◽  
Geometric Approach ◽  
Moving Target ◽  
Extraction Region ◽  
Fuzzy Like ◽  
Visual Target Tracking

This paper presents a methodology for visually tracking, extracting and recognizing targets from a sequence of images (video). The methodology is based on the local-global (LG) graph as a combination of algorithms, such as fuzzy-like segmentation, edge detection, thinning, region growing, fractals, feature extraction, region-graph with attributes, etc., appropriately used for tracking, extracting and recognizing targets under various conditions, such as moving target - still camera, still camera - moving target, moving target - moving camera. The main contribution of this paper is the real-time combination of algorithms that provides a human-like feedback geometric approach of processing low resolution information in a sequence of consecutive images. Simulated results of the metholodology are presented for synthetic and real images.

Advancements of a Piston Engine and Electrochemical Combined Hybrid System for Unmanned Aerial Systems

2020 ◽  
Author(s):  
Thomas S. Welles ◽  
Jeongmin Ahn
Keyword(s):  
Water Resources ◽  
Energy Density ◽  
Hybrid System ◽  
Liquid Fuel ◽  
Flight Time ◽  
Unmanned Aerial Systems ◽  
Water Runoff ◽  
Agricultural Crop ◽  
Piston Engine ◽  
Aerial Systems

Abstract This work investigates the integration of solid oxide fuel cells (SOFCs) and a small methanol/nitromethane fueled piston engine as a prospective hybrid powertrain for small unmanned aerial systems (UASs). The increased chemical energy density of a liquid fuel when compared to traditional batteries, along with ease of storage, accessibility, and refuel time make the use of a liquid fuel powered UAS preferable when compared to battery only power UAS’. Currently small UAS’ of increasing interest as a research area, as they have a wide application to a variety of fields. UAS’ are currently being used for precision agricultural crop management and water resource visual inspection. UAS’ are a cost effective avenue to survey water resources and track water runoff that is contaminating water resources. UAS’ can be easily automated and fitted with sensors and cameras capable of providing actionable feedback to the user. The use of UAS’ for land management and survey is expected to continue to expand. However, nearly all UAS’ are powered by a typical lithium polymer battery pack, giving an average endurance of approximately twenty minutes. This is acceptable to most hobbyists and for short filming duration; however, it limits UAS’ to only being able to be operated in close proximity to the user. Current power plants for UAS’ are not suited for long duration missions, such as the survey of water resources. Therefore, the development of a hybrid power plant is crucial for UAS’ to be utilized to their full potential as a survey tool. This work introduces a small internal combustion engine to act as a partial oxidation fuel reformer, producing high temperature exhaust and syngas. The exhaust of this engine is then analyzed as a fuel source for tubular SOFC’s. The SOFC is integrated into the exhaust of a 3.3 cm3 nitromethane fueled two-stroke engine, achieving a maximum power of 680 mW/cm2. A theoretical comparison of flight time indicates that the modular hybrid system could increase a typical small UAS’ flight time beyond 1 hour. The system is capable of achieving a significantly higher energy density than traditional lithium polymer batteries.

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.

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