Nonlinear observers in vision system: Application to civil aircraft landing

Gibert, Victor; Burlion, Laurent; Chriette, Abdelhamid; Boada, Josep; Plestan, Franck

doi:10.1109/ecc.2015.7330802

Cited by 17 publications

(9 citation statements)

References 20 publications

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“…Attitude heading reference system (AHRS) is a compulsory module of UAS which provides Kalman-filtered attitude information from raw IMU (Inertial Measurement Unit) and GPS measurements [5][6][7]. This attitude information can enhance the sky-ground separation methods, because it can give an estimate of the horizon line in the camera image [8]; furthermore, if the horizon is a visible feature (planar scenes), it can also be also used to improve the quality of attitude information [9] or support visual serving for fixed-wing UAV landing [10]. Sea, large lakes, plains, and even a hilly environment at high altitudes give visible horizon in the camera view, which is worth detection onboard.…”

Section: Introductionmentioning

confidence: 99%

Onboard Visual Horizon Detection for Unmanned Aerial Systems with Programmable Logic

et al. 2020

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We introduce and analyze a fast horizon detection algorithm with native radial distortion handling and its implementation on a low power field programmable gate array (FPGA) development board in this paper. The algorithm is suited for visual applications in an airborne environment, that is on board a small unmanned aircraft. The algorithm was designed to have low complexity because of the power consumption requirements. To keep the computational cost low, an initial guess for the horizon is used, which is provided by the attitude heading reference system of the aircraft. The camera model takes radial distortions into account, which is necessary for a wide-angle lens used in most applications. This paper presents formulae for distorted horizon lines and a gradient sampling-based resolution-independent single shot algorithm for finding a horizon with radial distortion without undistortion of the complete image. The implemented algorithm is part of our visual sense-and-avoid system, where it is used for the sky-ground separation, and the performance of the algorithm is tested on real flight data. The FPGA implementation of the horizon detection method makes it possible to add this efficient module to any FPGA-based vision system.

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Section: Introductionmentioning

confidence: 99%

Onboard Visual Horizon Detection for Unmanned Aerial Systems with Programmable Logic

et al. 2020

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Section: Introductionmentioning

confidence: 99%

“…Using onboard vision sensors in aircraft final approach and landing navigation is a very natural idea, and have been addressed in [2] and [3] for civil aviation application. [3] evaluated the image feature-based glide path estimation algorithm in a high fidelity aircraft simulator. There are also many work in vision-based autonomous UAV landing, and some actually flight tested the navigation and guidance approaches in a closed-loop manner [4].…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant final approach navigation for a fixed-wing UAV by using long-range stereo camera system

Watanabe

Manecy

Amiez

et al. 2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents an onboard vision/GNSSintegrated fault tolerant navigation system for aircraft final approach. The world-first long-range stereo camera system which captures an object and measures its distance up to 1 km has been developed, and implemented for runway feature detection. The navigation filter is designed based on timedelayed Error State Kalman filter for tightly coupling GNSS pseudo-range measurements with the stereo camera outputs. Then it is augmented with an integrity monitoring function for fault detection and protection level calculation. The whole navigation system has been evaluated on real sensor data sets, acquired on the ONERA experimental UAV, with GNSS fault emulation. The results show an improvement both in fault detectability and in navigation performance thanks to adding the stereo camera to the conventional GNSS navigation setup.

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“…In the EU-funded PEGASE project (2006)(2007)(2008)(2009) coordinated by Dassault Aviation, the position-and image-based visual servoing algorithms for final approach guidance were proposed [5] [6]. The French government-funded Visioland project (2013-2017) proposed an observer to estimate the aircraft position relative to the runway from image features [7]. The both projects benefitted from the participation of the aircraft manufacturers to evaluate the proposed algorithms in high-fidelity flight simulation framework with synthetic images.…”

Section: Introductionmentioning

confidence: 99%

Vision-integrated navigation system for aircraft final approach in case of GNSS/SBAS or ILS failures

Watanabe¹,

Manecy²,

Hiba

et al. 2019

AIAA Scitech 2019 Forum

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This paper proposes a vision-integrated navigation system to guide an aircraft on the final glide path. It makes use of onboard vision systems which track runway features and estimate a 6D aircraft pose with respect to a runway to land. The proposed vision-integrated navigation system will allow an aircraft to continue the final approach procedure by maintaining the navigation precision in case of possible degradation or failure of ILS or GNSS/SBAS sensors. In order to handle a non-negligible delay of such vision-based measurements due to the image processing time, an error-sate Kalman filter (ESKF) framework incooporating time-delayed measurements is established. The proposed delayed-measurement ESKF framework uses a fact that camera image acquisitions are triggered by a system and hence can be notified without delay. This enables the navigation filter to perform back-propagation of the estimated state forward in time to prepare for the future correction step at the time the measurement becomes available. The vision-integrated navigation system based on this framework was developed and its functionality is validated in simulations. Its estimation performance will be flight-evaluated with two different vision systems onboard a fixed-wing UAV experimental platform.

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Nonlinear observers in vision system: Application to civil aircraft landing

Cited by 17 publications

References 20 publications

Onboard Visual Horizon Detection for Unmanned Aerial Systems with Programmable Logic

Onboard Visual Horizon Detection for Unmanned Aerial Systems with Programmable Logic

Fault-tolerant final approach navigation for a fixed-wing UAV by using long-range stereo camera system

Vision-integrated navigation system for aircraft final approach in case of GNSS/SBAS or ILS failures

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