Tightly Coupled GNSS and Vision Navigation for Unmanned Air Vehicle Applications

Roberts, Peter J., Walker, Rodney A., & O'Shea, Peter J. (2005) Tightly Coupled GNSS and Vision Navigation for Unmanned Air Vehicle Applications. In Australian International Aerospace Congress, 13th - 17th March 2005, Melbourne, Australia.


This paper explores the unique benefits that can be obtained from a tight integration of a GNSS sensor and a forward-looking vision sensor. The motivation of this research is the belief that both GNSS and vision will be integral features of future UAV avionics architectures, GNSS for basic aircraft navigation and vision for obstacle-aircraft collision avoidance. The paper will show that utilising basic single-antenna GNSS measurements and observables, along with aircraft information derived from optical flow techniques creates unique synergies. Results of the accuracy of attitude estimates will be presented, based a comprehensive Matlab® Simulink® model which re-creates an optical flow stream based on the flight of an aircraft. This paper establishes the viability of this novel integrated GNSS/Vision approach for use as the complete UAV sensor package, or as a backup sensor for an inertial navigation system.

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ID Code: 2877
Item Type: Conference Paper
Refereed: Yes
Keywords: Optic Flow, Attitude Determination, GNSS, Vision, GPS, Pseudo, Attitude
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aerospace Engineering not elsewhere classified (090199)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Copyright Owner: Copyright 2005 (please consult author)
Deposited On: 12 Dec 2005 00:00
Last Modified: 29 Feb 2012 13:10

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