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Brigham Young University

BYU ScholarsArchive
All Theses and Dissertations

2005-07-07

Vision-based Target Localization from a Small,


Fixed-wing Unmanned Air Vehicle
Joshua D. Redding
Brigham Young University - Provo

Follow this and additional works at: http://scholarsarchive.byu.edu/etd


Part of the Mechanical Engineering Commons
BYU ScholarsArchive Citation
Redding, Joshua D., "Vision-based Target Localization from a Small, Fixed-wing Unmanned Air Vehicle" (2005). All Theses and
Dissertations. Paper 558.

This Thesis is brought to you for free and open access by BYU ScholarsArchive. It has been accepted for inclusion in All Theses and Dissertations by an
authorized administrator of BYU ScholarsArchive. For more information, please contact scholarsarchive@byu.edu.


  
  
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25

Localization Error due to UAV Attitude and Camera Angle Inaccuracies


Azimuth
Elevation
Phi
Theta
Psi

Localization Error (m)

20

15

10

0
10

0
Parameter Uncertainty (deg)

10

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12

Localization Error due to UAV Location Inaccuracies


East
North
Altitude

Localization Error (m)

10

0
10

0
Parameter Uncertainty (m)

10

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hC 8 \OK 

Localization Error due to Target Pixel Location Inaccuracies


Xip

1.8

ip

Localization Error (m)

1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
10

0
Parameter Uncertainty (pixels)

10

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Localization Experimental Data: Altitude = 60 m


UAV Path
Raw Estimate
True Avg
Moving Avg: 100 bins
RLS
Kalman: Q=0.1,R=100
Target
15.5 m Error

40

20

North (m)

20

40

60

80

80

60

40

20
East (m)

20

40

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Localization Experimental Data: Altitude = 60 m, Winds 5 mph from 290 deg


UAV Path
Raw Estimate
True Avg
Moving Avg: 100 bins
RLS
Kalman: Q=0.1,R=100
Target
15.5 m Error

40

20

North (m)

20

40

60

80

80

60

40

20
East (m)

20

40

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Localization Experimental Data: Altitude = 60 m, Winds 5 mph from 290 deg

10

UAV Path
Raw Estimate
True Avg
Moving Avg: 100 bins
RLS
Kalman: Q=0.1,R=100
Target
15.5 m Error

12

14

16

North (m)

18

20

22

24

26

28

30
32

30

28

26

24

22
East (m)

20

18

16

14

12

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Convergence of Localization Errors

40

True Avg
Moving Avg
RLS
Kalman

35

Localization Error (m)

30
25
20
15
10
5

20

40

60
80
Time (s)

100

120

140

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