Unmanned aircraft navigation for shipboard landing using infrared vision

Yakimenko, Oleg A.; Kaminer, Isaac; Lentz, William J.; Ghyzel, P. A.

doi:10.1109/taes.2002.1145742

Cited by 84 publications

(40 citation statements)

References 16 publications

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“…It is currently being used by Northrop Grumman Firescout and Bell Eagle Eye. Yakimenko et al [4] suggest the use of an IR camera to track a ship from long distances using its shape, while relying on GPS with a data link when the shipdeck and rotorcraft are close in. Contrary to this approach Xu et al [5] suggest using a GPS/data link for long range localization of the ship and use of an IR radiating T pattern on the ship deck to facilitate tracking of the ship in close ranges by an IR camera.…”

Section: Related Workmentioning

confidence: 99%

“…Saripalli [8] proposes a camera based method to land on moving objects but the motion constraints placed on the object and helicopter make the method unfit for shipdeck tracking. GPS [1], [2], [4], [5], [6] and radar [3] based methods involve installation of expensive infrastructure on-board the ship and require a data link between the rotorcraft and the shipdeck. The need for infrastructure on the ship renders carrier ships without the required equipment not landable.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Infrastructure-free shipdeck tracking for autonomous landing

Arora

Jain

Scherer

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-Shipdeck landing is one of the most challenging tasks for a rotorcraft. Current autonomous rotorcraft use shipdeck mounted transponders to measure the relative pose of the vehicle to the landing pad. This tracking system is not only expensive but renders an unequipped ship unlandable. We address the challenge of tracking shipdeck without additional infrastructure on the deck. We present two methods based on video and lidar that are able to track the shipdeck starting at a considerable distance from the ship. This redundant sensor design enables us to have two independent tracking systems. We show the results of the tracking algorithms in 3 different environments, 1. field testing results on actual helicopter flights, 2. in simulation with a moving shipdeck for lidar based tracking and 3. in laboratory using an occluded and moving scaled model of a landing deck for camera based tracking. The complimentary modalities allow shipdeck tracking under varying conditions.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Infrastructure-free shipdeck tracking for autonomous landing

Arora

Jain

Scherer

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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“…Therefore, each camera contributes two nonlinear equations of the form (2). It follows that to resolve the original problem for three components of vector P r we need to have at least two cameras.…”

Section: El Tmentioning

confidence: 99%

Autonomous Video Scoring and Dynamic Attitude Measurement

Yakimenko

Dobrokhodov

Kaminer

et al. 2005

18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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The paper focuses on the development and evaluation of an autonomous payload tracking capability for determining time, state and attitude information (TSPI) of all types of airdrop loads. This automated capability of accurately acquiring TSPI data, will reduce the labor time and eliminate man-in-the-loop errors. The paper analyses the problem and then proceeds with the description of the PerceptiVU Target Tracking System (TTS) software adopted for obtaining the TSPI. The key features of this software include a choice of three basic tracking algorithms (dynamic centroid, hottest spot thresholding, dynamic correlation), capability of capturing from both standard analog video sources (such as NTSC and/or RS170) and digital video sources, control of the entire system with an off-the-shelf joystick controller. The paper further describes algorithms to be used in conjunction with the data provided by the TTS to determine system's state variables. A position estimation solution is based on tracking a payload's center (or any other predetermined point) by several cameras with known positions. A pose (position and orientation) estimation solution is based on tracking of four distinctive non-coplanar points. Pre-selected and artificially marked points on the moving target cooperatively serve as beacons, therefore providing precise measurements of the line of sign toward these points. This allows unique position and attitude estimation and no need for additional pattern recognition. In conclusion, the paper provides examples of video data processing and parameters estimation.

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“…7 In addition, GPS have been ruled out in certain applications, for example, some platforms like warships cannot send their position to the aircraft for fear of jeopardizing their security. 4 Therefore, this consideration places emphasis on passive sensors.…”

Section: Introductionmentioning

confidence: 99%

Multi-camera networks for motion parameter estimation of an aircraft

Guan

Sun

Shang

et al. 2017

International Journal of Advanced Robotic Systems

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A multi-camera network is proposed to estimate an aircraft's motion parameters relative to the reference platform in large outdoor fields. Multiple cameras are arranged to cover the aircraft's large-scale motion spaces by field stitching. A camera calibration method using dynamic control points created by a multirotor unmanned aerial vehicle is presented under the conditions that the field of view of the cameras is void. The relative deformation of the camera network caused by external environmental factors is measured and compensated using a combination of cameras and laser rangefinders. A series of field experiments have been carried out using a fixed-wing aircraft without artificial makers, and its accuracy is evaluated using an onboard Differential Global Positioning System. The experimental results show that the multi-camera network is precise, robust, and highly dynamic and can improve the aircraft's landing accuracy.

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Unmanned aircraft navigation for shipboard landing using infrared vision

Cited by 84 publications

References 16 publications

Infrastructure-free shipdeck tracking for autonomous landing

Infrastructure-free shipdeck tracking for autonomous landing

Autonomous Video Scoring and Dynamic Attitude Measurement

Multi-camera networks for motion parameter estimation of an aircraft

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