The satellite navigation systems are the main position sources for unmanned aerial vehicles (UAVs). This fact limits the area of UAVs operation to the places where radio signals is visible for a satellite navigation system receiver, mounted on the vehicle-outdoor navigation. Closed spaced are unavailable for vehicles which navigation is based on global satellite navigation systems (GNSS). Miniature UAV (MiniUAV) is able to operate successfully within a indoor environment, however is has to be supported by teleoperation system operated by a man. MiniUAV is not able to plot the trajectory and determine their position relatively to the indoor environment. The research presented in the paper are solving a problem of indoor navigation position tracking. Developed and tested method is based on image data acquired by a single non-metric digital camera placed on miniUAV. The paper presents the method of solving a own UAV position, based only on image data, as well as process of UAV navigation supported by developed method and the main advantages and limitations. The method is based on photogrammetry and a modern computer vision algorithms.
Authors
Additional information
- DOI
- Digital Object Identifier link open in new tab 10.13140/rg.2.1.2072.8161
- Category
- Aktywność konferencyjna
- Type
- publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
- Language
- angielski
- Publication year
- 2015
