System Development and Flight Experiment of Vision-Based Simultaneous Navigation and Tracking

Yoko Watanabe, Charles Lesire, Alain Piquereau, Patrick Fabiani, Martial Sanfourche, Guy Le Besnerais
2010 AIAA Infotech@Aerospace 2010   unpublished
This paper develops a UAV onboard vision-based system for simultaneous navigation and tracking. The system consists of i) image processor, ii) navigation filter which localizes both a UAV and a ground moving target by fusing onboard sensor measurements and the image processing outputs, and iii) guidance and control system which makes the UAV pursue the target by using the navigation results. Each algorithm is implemented as a component of the Orocos robotic architecture, and integrated with the
more » ... integrated with the automatic flight control system of the ONERA ReSSAC unmanned helicopter. The developed system will be evaluated through flight experiments.
doi:10.2514/6.2010-3422 fatcat:oyordxo2njempn4z4n5erp3ipm