Transactions of Nanjing University of Aeronautics & Astronautics
Geo-location for Ground Target with Multiple Observations Using Unmanned Aerial Vehicle
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Abstract:
In order to improve the target location accuracy of unmanned aerial vehicle (UAV), a novel target location method using multiple observations is proposed. Firstly, the camera intrinsic parameters are calibrated. Then, the weighted least squares estimation is used to improve the localization precision because the traditional crossover method is vulnerable to noise and has low precision. By repeatedly measuring the same target point, a nonlinear observation equation is established and then covered to linear equations using Taylor expansion. The weighted matrix is obtained according to the height of the measurement point and the camera optic axis pointing angle, and then the weighted least squares estimation is used to calculate the target position iteratively. Finally, the effectiveness and robustness of this method is verified by numerical simulation and flight test. The results show that this method can effectively improve the precision of target location.
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The work was supported by the National Natural Science Foundation of China (No.61601222), State Key Laboratory of Satellite Navigation System and Equipment Technology (No.EX166840046), the Natural Science Foundation of Jiangsu Province (No.BK20160789), and China Postdoctoral Science Foundation Funded Project (No.2018M632303).
Clc Number:
TH74
CHINA AERO-SCIENCES
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