Navigation Functionalities for an Autonomous UAV Helicopter

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16 CHAPTER 3. SIMULATION Currently, the video camera is not used in the simulation loop but the system can still control the camera pan/tilt. A virtual environment (Fig. 3.2), reproducing the flight-test area described in the introduction (Fig.1.1), is used for visualization purposes. Theoretically the image processing functions could be fed with synthetic images in order to feedback from the virtual environment, this is a topic for future work. Figure 3.2: Virtual environment used for flight mission simulation.
3.3. REFERENCE FRAMES 17 3.3 Reference frames This section provides an overview of the different reference frames used in this thesis. The Earth frame (Fig. 3.3) has its origin at the center of mass of the Earth and axes which are fixed with respect to the Earth. Its Xe axis points toward the mean meridian of Greenwich, the Ze axis is parallel to the mean spin axis of the Earth, and the Ye axis completes a right-handed orthogonal frame. The navigation frame (Fig. 3.3) is a local geodetic frame which has its origin coinciding with that of the sensor frame and axes with the Xn axis pointing toward the geodetic north, the Zn axis orthogonal to the reference ellipsoid pointing down, and the Yn axis completing a right-handed orthogonal frame. Figure 3.3: Earth and navigation frames. The body frame (Fig. 3.4) is an orthogonal axis set which has its origin coinciding with the center of gravity of the helicopter, the Xb axis pointing forward to the nose, the y-axis orthogonal to the Yb axis and pointing to the right side of the helicopter body, and the Zb axis pointing down so that
Page 1: Linköping Studies in Science and T
Page 5: Acknowledgements This work would ha
Page 9 and 10: Contents 1 Introduction 1 2 Overvie
Page 11 and 12: Chapter 1 Introduction An Unmanned
Page 13 and 14: of the environment in order to avoi
Page 15 and 16: Chapter 2 Overview This chapter pre
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Page 23 and 24: Chapter 3 Simulation 3.1 Introducti
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Page 33 and 34: 3.5. SIMULATION RESULTS 23 3.5 Simu
Page 35 and 36: 3.5. SIMULATION RESULTS 25 Figure 3
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Page 39 and 40: Chapter 4 Path Following Control Mo
Page 41 and 42: 4.2. TRAJECTORY GENERATOR 31 Figure
Page 43 and 44: 4.2. TRAJECTORY GENERATOR 33 Fig. 4
Page 45 and 46: 4.2. TRAJECTORY GENERATOR 35 be use
Page 47 and 48: 4.2. TRAJECTORY GENERATOR 37 4.2.3
Page 49 and 50: 4.2. TRAJECTORY GENERATOR 39 radius
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Page 71 and 72: 5.1. FILTER ARCHITECTURE 61 filter
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5.2. EXPERIMENTAL RESULTS 67 Figure
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5.2. EXPERIMENTAL RESULTS 69 by the
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5.3. CONCLUSION 71 vision system st
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BIBLIOGRAPHY 73 [9] E. Frazzoli. Ro
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Appendix A 75
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A.1. PAPER I 77 is a three-dimensio
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A.1. PAPER I 79 The reference point
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A.1. PAPER I 81 Path Av Err Max Err
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A.2. PAPER II 83 From Motion Planni
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A.3. PAPER III 97 A.3 Paper III Aut
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A.3. PAPER III 99 the projection of
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A.3. PAPER III 101 yes Tbo > Tlim2
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A.3. PAPER III 103 immediately afte
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A.3. PAPER III 105 altitude [m] 20
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A.3. PAPER III 107 Fig. 10. Flight
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Department of Computer and Informat
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No 598 Rego Granlund: C 3 Fire - A
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No 1024 Aleksandra Tešanovic: Towa
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Navigation Functionalities for an Autonomous UAV Helicopter

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