Attitude Estimation of a UAV Using Optical Flow

Authored by: Lianhua Zhang , Zongying Shi , Yisheng Zhong

Multisensor Attitude Estimation

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:

10.1201/9781315368795-34

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Abstract

During recent years, unmanned aerial vehicles (UAVs) have gained growing interest, for UAVs can carry out a variety of tasks such as surveillance, rescue, and power lines inspection. The inertial measurement unit (IMU) and the global positioning system (GPS) are the main sensors of UAVs. However, low-cost IMUs have the shortages of sensor bias, noise, and drift, while high-precision IMUs are generally expensive and heavy, which limit their application on UAVs. Meanwhile, optical sensors are cheap, lightweight, and passive, and can be an effective supplement to inertial sensor to obtain better attitude estimation. Hence, vision based attitude estimation and control of UAVs have gained much attention over the past two decades [1,5,16,1922].

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