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检索条件"任意字段=Conference on Navigation and Control Technologies for Unmanned Systems"

共 7752 条记录，以下是81-90 订阅

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UAV Flight control Under the Presence of Dynamic Geofencing 7

UAV Flight Control Under the Presence of Dynamic Geofencing

引用

7th IEEE International conference on Actual Problems of unmanned Aerial Vehicles Development, APUAVD 2024

作者： Averyanova, Yuliya Znakovska, Yevheniia National Aviation University Air Navigation Systems Department Kyiv Ukraine

ISBN: (纸本)9798331534141

This paper deals with the weather-related hazard analysis found on the paths of unmanned aerial vehicles. One of the solutions that allows to avoid the hazards is introducing the so-called, geofencing. In this paper, we analyze the approaches to building geofences and propose an algorithm for UAV flight control under dynamic geofencing. The developed algorithm also allows for control of the presence, position, duration, and displacement of geofence and is based on operative weather information. The key information source for dynamic geofencing control is the network of unmanned aerial vehicles that are used the mobile platforms in addition to the constant sensors. Such utilization of unmanned aerial vehicles is made additionally to their primary goal and mission. © 2024 IEEE.

关键词： unmanned aerial vehicles (UAV)

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Research on an unmanned Platform Odometer Based on Vision and Inertial navigation Fusion Technology

Research on an Unmanned Platform Odometer Based on Vision an...

引用

International conference on Autonomous unmanned systems (ICAUS)

作者： Dong, Yue Luo, Qiang Yang, Ruochen Du, Zhe Zhang, Luhua Northwestern Polytech Univ Unmanned Syst Res Inst Xian 710072 Shaanxi Peoples R China Xian Modern Control Technol Res Inst Xian 710065 Shaanxi Peoples R China Shanghai Electromech Engn Inst Shanghai 201109 Peoples R China

ISBN: (纸本)9789819904815;9789819904792;9789819904785

Visual inertial odometer is a device that takes camera and IMU as input and takes the position and attitude of unmanned platform as output. The traditional odometer is an important auxiliary navigation mode in the unmanned navigation system. But the traditional odometer cannot adapt to many new developments. Therefore, this paper aims to make a study on a new odemeter: visual inertial odometer (VIO). This paper mainly studies the robustness and applicable environment of the visual inertial odometer. Firstly, this paper explains what is visual inertial odometer, and puts forward the significance of this research. After that, simulation experiments are carried out to verify the robustness and accuracy of the visual inertial odometer. Then the visual inertial odometer is tested based on hardware. Finally, through the analysis of the experimental results and errors, the applicable environment and conditions of the visual inertial odometer are obtained.

关键词： Visual navigation Inertial navigation Pose estimation Monocular vision inertial odometer

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Numerical integration-based algorithm for efficient actual navigation performance of airborne integrated navigation systems 36

Numerical integration-based algorithm for efficient actual n...

引用

36th Chinese control and Decision conference (CCDC)

作者： Wang, Chonggeng Zhong, Lunlong Civil Aviat Univ China Tianjin Key Lab Adv Signal Proc Tianjin Peoples R China

ISBN: (纸本)9798350387780;9798350387797

Flight management system is one of the core technologies of avionics system for large civil aircraft. Among them, the integrated navigation system is the core component of the flight management system, supporting trajectory prediction, autopilot, flight guidance and other key functions. The actual navigation performance (ANP) can reflect the navigation performance of the integrated navigation system at the current moment. Under the performance based navigation (PBN) mode of operation, a fast and accurate calculation of ANP is indispensable for the navigation and positioning solving and navigation mode management of the integrated navigation system of an airplane, and the key to the calculation of ANP lies in the accuracy and fastness of the calculation. Aiming at the above problems, the two-dimensional normal distribution characteristics of the position error of the integrated navigation system are studied, and an ANP evaluation model based on the two-dimensional error probability density function is established. The ANP evaluation process is simplified into a probability calculation problem. An efficient ANP algorithm for airborne integrated navigation systems based on numerical integration is proposed, which adopts Gauss Legende's efficient numerical integration method to accelerate the computation speed of the dual integration, and at the same time optimizes the existence interval of ANP based on the error distribution characteristics, and adopts the bisection iterative method to quickly compute the ANP value of the integrated navigation system within the interval. The simulation results show that compared with the traditional algorithm, the Gauss Legende numerical integration-bisection iteration algorithm greatly reduces the computation time and improves the computation efficiency while guaranteeing the accuracy, providing reliable support for the integrated navigation system of the aircraft to carry out the functions of navigation and positioning solving and na

关键词： performance based navigation actual navigation performance integrated navigation systems numerical integration iterative computation

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Outdoor unmanned Vehicle System Design and Patrol Algorithm Research 9

Outdoor Unmanned Vehicle System Design and Patrol Algorithm ...

引用

9th International conference on control, Robotics and Cybernetics, CRC 2024

作者： Huang, Zhou Xiao, Runyang Yao, Ruijia Xu, Zhengwang Du, Ziqun School of Electrical and Electronic Engineering Wuhan430068 China Hubei Engineering Research Center for Safety Monitoring of New Energy and Power Grid Equipmentm. Hubei University of Technology Wuhan430068 China

ISBN: (纸本)9798331517489

In modern unmanned vehicle technology, outdoor patrolling algorithms play a crucial role in enabling autonomous navigation. To enhance the performance of unmanned vehicles in complex outdoor environments, researchers have been continuously refining and optimizing these algorithms. This paper presents a detailed overview of our approach, including the design of the autonomous navigation camera algorithm, vision processing, and recognition technologies. To address challenges such as limited computational resources, environmental interference in line patrolling, and the prolonged debugging time required for the line patrolling algorithm, we propose innovative solutions. These include multi-threading, segmented adaptive binarization, the edge inheritance method, the least squares approach, and enhancements to the YOLOv5-Lite model. Together, these advancements significantly improve the vehicle's adaptability to diverse lane conditions. © 2024 IEEE.

关键词： Program debugging

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PPP-B2b/INS Integrated navigation Technology Based on BDS-3

PPP-B2b/INS Integrated Navigation Technology Based on BDS-3

引用

2024 IEEE International conference on unmanned systems, ICUS 2024

作者： Liao, Yang Zeng, Xiaohui Zhuang, Xuebin School of System Science and Engineering Sun Yat-Sen University Guangzhou China

ISBN: (纸本)9798350384185

To address frequent signal obstructions and interruptions in urban vehicular dynamic environments, a GNSS/INS integrated navigation method based on PPP-B2b is proposed in the paper. Though theoretical analysis and model construction, two integration navigation system are constructed: the PPP-B2b/INS loose coupled and the PPP-B2b/INS tight coupled. The system performance is empirically verified through dynamic vehicular experiments across multiple scenarios. The research results demonstrated that, compared to PPP-B2b, PPP-B2b/INS exhibited improvements in both velocity and positioning accuracy. © 2024 IEEE.

关键词： BDS-3 PPP-B2b signal environment GNSS/INS integrated navigation

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Design of a Configurable Generic Architecture for unmanned Aerial Vehicle Flight control System Application Software

Design of a Configurable Generic Architecture for Unmanned A...

引用

2024 International conference on Guidance, navigation and control

作者： Liu, Xin Cui, Delong Xia, Man Yang, Xuan Zhang, Yuxiang Shi, Jingang AVIC First Aircraft Inst Xian Shaanxi Peoples R China Xi An Jiao Tong Univ Sch Software Engn Xian Shaanxi Peoples R China

ISBN: (纸本)9789819622221;9789819622207;9789819622191

The current application software for unmanned aerial vehicle (UAV) flight control systems is mostly developed for specific models, resulting in poor adaptability and portability. This imposes significant workload and extends the development cycle for UAV systems. To address this issue, a configurable and generic software modular framework is proposed for UAV embedded computing environments. This framework introduces the concept of a software bus layer based on the data producer-consumer business model and middleware. It integrates this layer into the traditional software architecture, creating a universal embedded software architecture for UAV flight control. The functionality of application software in the business application layer of this architecture is analyzed, and a standardization solution is formulated. Following this framework, practical application designs are developed, and experiments are conducted in a simulated environment to demonstrate the feasibility of the designed configurable generic architecture for UAV flight control system application software.

关键词： unmanned Aerial Vehicle Flight control System Software Architecture Application Software Decisions

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Open-Source Hardware/Software Architecture for Autonomous Powerline-Aware Drone navigation and Recharging

Open-Source Hardware/Software Architecture for Autonomous Po...

引用

International conference on unmanned Aircraft systems (ICUAS)

作者： Nyboe, Frederik Falk Malle, Nicolaj Haarhoj Hoang, Viet Duong Ebeid, Emad Univ Southern Denmark Drone Infrastruct Inspect & Interact DIII Grp Odense Denmark

ISBN: (纸本)9798350310375

Recent research has pushed the applications of UAVs into domains such as infrastructure inspection and interaction. For UAVs to be able to safely and efficiently perform autonomous operations near the target infrastructure, they need to be aware of their surroundings while exposing navigation API to the application software. For powerline inspection UAVs, this yields a requirement for knowledge of the powerline cable positions and a set of actions facilitating specific flight operations in this environment. This work presents a hardware/software system solving these requirements. A framework is shown which allows application software to autonomously fly the UAV to any of the perceived cables, to fly the UAV along a cable, and to land on and takeoff from a cable. The system relies on an abstract representation of the identified and tracked cables, while solving the flight maneuvers using an MPC based trajectory planning routine. The system is tested in a real powerline environment featuring four cables stretched between two pylons. A GUI application is developed for triggering the actions remotely from a ground control station while providing a visual representation of the perceived cables and planned trajectories.

关键词： Application programs

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Grid-Based Integrated Safety-Critical Motion Planning for unmanned Mobile Vehicles 24

Grid-Based Integrated Safety-Critical Motion Planning for Un...

引用

24th International conference on control, Automation and systems

作者： Cho, Minsu Park, Dong-Il Korea Inst Machinery & Mat KIMM Adv Robot Res Ctr Daejeon 34103 South Korea

ISBN: (纸本)9798331517939;9788993215380

Nonlinear model predictive control is a reliable and effective approach for optimization-based motion planning. In safety-critical control systems, controllers must solve inequality-constrained optimization problems. However, scene understanding, which consists of perceiving the driving environment and designing safety constraints, may complicate the optimization problem and is a resource-intensive process. In this paper, we propose a unified scene understanding method that uses occupancy grid maps (OGMs) to design a single unified constraint. We also propose a novel method for designing OGMs that method accounts for noise and uncertainties. We use this OGM approach for scene understanding to design a single constraint that ensures that only cells with occupancy probability values less than a predefined threshold can be traversed. We embed this constraint into the optimization problem as a single unified discrete barrier state. In the experiments, we compare the performance of the proposed method with that of an augmented Lagrangian method. The motion planning results in a pop-up obstacle avoidance scenario using an unmanned mobile vehicle demonstrate the advantages of the proposed method, such as reduced time costs and improved safety.

关键词： Autonomous Vehicle navigation Occupancy Grid Map Safety-Critical Motion Planning

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Vision-based parameter estimation of a slung load

Vision-based parameter estimation of a slung load

引用

International conference on unmanned Aircraft systems (ICUAS)

作者： Naundrup, Jacob Juul Bendtsen, Jan Dimon la Cour-Harbo, Anders Aalborg Univ Control & Automat Aalborg Denmark

ISBN: (纸本)9798350357899;9798350357882

This research paper introduces an innovative vision-based technique designed to locate and estimate the position of a tethered slung load relative to an unmanned Aerial System (UAS). The approach relies on fundamental image processing methodologies, primarily emphasizing accurately determining the pitch of the slung load. This is achieved through a combination of Gaussian filtering, HSV filtering, and Fitzgibbon ellipse detection. An independent measuring device is employed to validate the calculated pitch, adding an extra layer of reliability to the vision software's output. The effectiveness of the proposed method is confirmed through rigorous indoor testing, utilizing measuring devices in controlled conditions. Additionally, outdoor scenarios showcase the reliability and feasibility of the vision-based approach. This approach holds significant promise for enhancing UAS operational capabilities, presenting a cost-effective vision solution for load positioning applications. The outcomes contribute substantially to the advancement of UAS technologies, particularly in missions where precise load positioning is a critical determinant of success, extending the potential applications of vision-based systems in diverse operational environments.

关键词： UAS Computer Vision Slung load Vision-Based estimation Experiments

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Automatic Trajectory System for unmanned Vehicle Swarms Using Artificial Vision 4th

Automatic Trajectory System for Unmanned Vehicle Swarms Usin...

引用

4th International conference on Advanced Research in technologies Information Innovation and Sustainability-ARTIIS-Annual

作者： Requena, Patricio Arequipa, Daniel Montalvo, William Univ Politecn Salesiana Quito 170146 Ecuador

ISBN: (纸本)9783031832093;9783031832109

The present study focuses on the development and application of automatic trajectory systems for swarms of unmanned aerial vehicles (UAVs) using artificial vision. Despite the growing interest and abundant literature in the field of UAVs and artificial vision, there is a significant gap in applied research, particularly in the practical implementation of these systems. A lack of experimental studies that allow direct comparisons and comprehensive measurements in physical environments is observed. The main objective of this research is to implement an automatic trajectory system using artificial vision in UAV swarms. To achieve this, a comprehensive analysis of existing literature on artificial vision strategies for object detection on routes will be carried out. Subsequently, an evasion algorithm subsystem will be developed to avoid collisions in the swarm's trajectory, using vision models based on Deep Learning and ArUco markers used in Python programming language libraries. Experimental tests will focus on evaluating flight time and evasion capacity in a controlled environment. These tests will validate the effectiveness of the implemented system, providing practical and applied knowledge in the field of UAV swarms, addressing the need for solutions for autonomous navigation.

关键词： Artificial Vision UAV UAV Swarm Path Planning ArUco

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