相关论文: UAV attitude estimation using Unscented Kalman Fil…

This paper proposes a thresholding approach for crack detection in an unmanned aerial vehicle (UAV) based infrastructure inspection system. The proposed algorithm performs recursively on the intensity histogram of UAV-taken images to…

Current unmanned aerial vehicle (UAV) visual tracking algorithms are primarily limited with respect to: (i) the kind of size variation they can deal with, (ii) the implementation speed which hardly meets the real-time requirement. In this…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

Reliable 3D trajectory estimation of unmanned aerial vehicles (UAVs) is a fundamental requirement for anti-UAV systems, yet the acquisition of large-scale and accurately annotated trajectory data remains prohibitively expensive. In this…

The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…

This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…

Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…

Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current wind measurement methods using UAVs that need to be…

Accurate state estimation of nonlinear dynamical systems is fundamental to modern aerospace operations across air, sea, and space domains. Online tracking of adversarial unmanned aerial vehicles (UAVs) is especially challenging due to agile…

Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…

The unscented Kalman filter (UKF) is a commonly used algorithm capable of estimating the states of nonlinear dynamic systems. It carefully chooses a set of sample points, called sigma points that capture the nonlinear system states…

While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…

With the exploitation of wind power, more turbines will be deployed at remote areas possibly with harsh working conditions (e.g., offshore wind farm). The adverse working environment may lead to massive operating and maintenance costs of…

Rapid advances in designing cognitive and counter-adversarial systems have motivated the development of inverse Bayesian filters. In this setting, a cognitive 'adversary' tracks its target of interest via a stochastic framework such as a…

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…

Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear.…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…

This paper investigates unmanned aerial vehicle (UAV)-mounted intelligent reflecting surfaces (IRS) to leverage the benefits of this technology for future communication networks, such as 6G. Key advantages include enhanced spectral and…