Dissertation > Excellent graduate degree dissertation topics show

Research on High-precision Attitude Estimation Based on INS/Vision Fusion for Indoor Flight

Author: WangKangYou
Tutor: WangBiao
School: Nanjing University of Aeronautics and Astronautics
Course: Pattern Recognition and Intelligent Systems
Keywords: micro air vehicle computer vision INS attitude estimation multi-rate Kalman fusion
CLC: TP391.41
Type: Master's thesis
Year: 2012
Downloads: 80
Quote: 0
Read: Download Dissertation

Abstract


Compared with conventional unmanned aerial vehicle (UAV), micro aerial vehicle (MAV) hasmany advantages like small size, low cost, flexibility and so on. It has broad application prospects inboth the military and civilian areas. However, due to the constraints of size, weight and cost, thetraditional sensors on MAV can’t give high-precision attitude information. This paper analyzes thestrengths and weaknesses of the current methods of attitude measurement and then does research onhigh-precision attitude estimation based on INS/Vision fusion for indoor flight.First, an attitude estimation method based on vision techniques is implemented, which uses theimage coordinates and the coordinates of world coordinate system of at least three non-collinearfeature points to calculate the attitude that camera coordinate system relative to the world coordinatesystem. After analyzing the error of INS and visual attitude estimation, the attitude estimation basedon INS/Vision fusion is adopted.Secondly, according to the different sampling rate of INS and vision, an algorithm of multi-rateKalman fusion is researched, which divides the updated process into two separate processes those aretime update and measurement update. When there is no visual attitude information, only the timeupdate is executed. In the conditions of visual attitude information, the time update and measurementupdate are executed. Experimental results show that this algorithm has better convergence effect andhigher data update frequency.Finally, a physical simulation system is builded to verify the visual attitude estimation algorithmand multi-rate Kalman fusion algorithm. Many issues of the visual attitude measurement system likecamera calibration, feature point extraction and so on are solved. Experimental results show that theattitude estimation based on INS/Vision fusion is feasible to apply.

Related Dissertations

  1. Research on Learning-Based Low-Level Vision Problem,TP391.41
  2. Research on Nondestructive Detection Technology for External Qualities of Papayas Based-on Vision,S667.9
  3. Study on Detection and Grading of ’Jiro’ Persimmon’s External Quality Based on Computer Vision,S665.2
  4. Prediction of Pork Processing Functionalities,TS251.1
  5. Research on Inspection Technology of Dehydrated Garlic Slice Based on Computer Vision,TP391.41
  6. Moving target trajectory analysis based Intelligent Traffic Monitoring System,TP277
  7. Research of Handwriting Input Method Based on Computer Vision,TP391.14
  8. The Discrimination of Rice Weeds Based on DSP,TP391.41
  9. Research & Implementation of Obstacle Detection Algorithm Based on Feature Points Matching,U463.6
  10. Research of Obstacle Detection Algorithm Based on Combination of Motion Compensation and Feature Information,TP391.41
  11. Research on Methods of Indirect Measuring Pouring Flow Based on Computer Vision,TP274
  12. Research on Algorithm of GPS/INS Data Fusion in Land Vehicle,P228.4
  13. The Design and Implementation of On-line Strip Surface Defect Inspection System Based on Computer Vision,TP391.41
  14. Based on Computer Vision Fabric defect detection and classification of,TP274
  15. Design and implementation of computer vision -based gesture interaction systems,TP391.41
  16. Electric Material Management System,TP311.52
  17. Golf Tong robot visual tracking module design,TP242.62
  18. Research on Application of Computer Vision in High Energy Beam Rapid Manufacture,TP391.41
  19. Research on Vision Based Hand Gesture Recognition Technology,TP391.41
  20. Research of GPS and INS Navigation Based on VxWorks System and Unmanned Car,TJ810.3
  21. Research on Vehicle-Borne Integrated Navigation System in Complex Environment,TN967.2

CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
© 2012 www.DissertationTopic.Net  Mobile