GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Maziar Izadi, Amit Sanyal, Randy Beard, He Bai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of handoff of an object being tracked from one fixed-wing UAV to another in a team of UAVs, using onboard sensors in a GPS-denied environment. This estimation scheme uses optical measurements from cameras onboard a vehicle, to estimate both the relative pose and relative velocities of another vehicle or target object. It is obtained by applying the Lagrange-d'Alembert principle to a Lagrangian constructed from measurement residuals using only the optical measurements. This nonlinear pose estimation scheme is discretized for computer implementation using the discrete Lagrange-d'Alembert principle, with a discrete-time linear filter for obtaining relative velocity estimates from optical measurements. Computer simulations depict the stability and robustness of this estimator to noisy measurements and uncertainties in initial relative pose and velocities.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2152-2157
Number of pages6
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

Fingerprint

Fixed wings
Motion Estimation
Motion estimation
Unmanned aerial vehicles (UAV)
Optical Measurement
Global positioning system
Estimator
Pose Estimation
Lagrange
Nonlinear Estimation
Linear Filter
Handoff
Robust Estimation
Estimate
Discrete-time
Computer Simulation
Camera
Robustness
Uncertainty
Sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Izadi, M., Sanyal, A., Beard, R., & Bai, H. (2015). GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 2152-2157). [7402525] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402525

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator. / Izadi, Maziar; Sanyal, Amit; Beard, Randy; Bai, He.

54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2152-2157 7402525.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Izadi, M, Sanyal, A, Beard, R & Bai, H 2015, GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator. in 54rd IEEE Conference on Decision and Control,CDC 2015., 7402525, Institute of Electrical and Electronics Engineers Inc., pp. 2152-2157, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 12/15/15. https://doi.org/10.1109/CDC.2015.7402525
Izadi M, Sanyal A, Beard R, Bai H. GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator. In 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2152-2157. 7402525 https://doi.org/10.1109/CDC.2015.7402525
Izadi, Maziar ; Sanyal, Amit ; Beard, Randy ; Bai, He. / GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator. 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2152-2157
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