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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국항공우주학회 International Journal of Aeronautical and Space Sciences International Journal of Aeronautical and Space Sciences Volume.17 Number.2
- 발행연도
- 2016.6
- 수록면
- 232 - 239 (8page)
이용수
초록· 키워드
오류제보하기
Recently, in order to increase the efficiency and mission success rate of UAVs (Unmanned Aerial Vehicles), the necessity for formation flights is increased. In general, GPS (Global Positioning System) is used to obtain the relative position of leader with respect to follower in formation flight. However, it can’t be utilized in environment where GPS jamming may occur or communication is impossible. Therefore, in this study, monocular vision is used for measuring relative position. General PCbased vision processing systems has larger size than embedded systems and is hard to install on small vehicles. Thus FPGAbased processing board is used to make our system small and compact. The processing system is divided into two blocks, PL(Programmable Logic) and PS(Processing system). PL is consisted of many parallel logic arrays and it can handle large amount of data fast, and it is designed in hardware-wise. PS is consisted of conventional processing unit like ARM processor in hardware-wise and sequential processing algorithm is installed on it. Consequentially HW/SW co-designed FPGA system is used for processing input images and measuring a relative 3D position of the leader, and this system showed RMSE accuracy of 0.42 cm ~ 0.51 cm.
목차
Abstract
1. Introduction
2. Sytem configuration
3. Relative position measurement
4. Experimental results
5. Conclusion
References
참고문헌 (9)
참고문헌 신청
[학술대회논문] - Kim, Y. J. / 2011 / Real-time Implementation of Vision-based Pose Estimation for UAV Aerial Refueling / KSAS Spring Symposium : 633 ~ 637
[학술대회논문] - Oh, S. M. / 2007 / Relative Motion Estimation for Vision-based Formation Flight using Unscented Kalman Filter / AIAA Guidance, Navigation, and Control Conference and Exhibit
[학술대회논문] - Mahboubi, Z. / 2011 / Camera Based Localization for Autonomous UAV Formation Flight / AIAA Infotech@Aerospace 2011 3 : 2631 ~ 2643
[학술대회논문] - Kim, J. H. / 2012 / Measurement of the 3-dimensional Relative Position of the Leader during Formation Flight / KSAS Fall Conference
[학술대회논문] - Cheon, B. K. / 2014 / Guidance and Control Algorithm Considering Position and Attitude of Leader for Formation Flight / KSAS Fall Conference : 353 ~ 356
[학술대회논문] - Oh, S. M. / 2007 / Relative Motion Estimation for Vision-based Formation Flight using Unscented Kalman Filter / AIAA Guidance, Navigation, and Control Conference and Exhibit
[학술대회논문] - Mahboubi, Z. / 2011 / Camera Based Localization for Autonomous UAV Formation Flight / AIAA Infotech@Aerospace 2011 3 : 2631 ~ 2643
[학술대회논문] - Kim, J. H. / 2012 / Measurement of the 3-dimensional Relative Position of the Leader during Formation Flight / KSAS Fall Conference
[학술대회논문] - Cheon, B. K. / 2014 / Guidance and Control Algorithm Considering Position and Attitude of Leader for Formation Flight / KSAS Fall Conference : 353 ~ 356
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UCI(KEPA) : I410-ECN-0101-2017-558-000818299