Vision-Based Target Localization From A Small Fixed-Wing Unmanne PDF

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
"HJP_A%^@K _mKSN%>@H]QRHJFH]Q 9 <=X7\J<mZMC=\OHJoC[Q@HO<_N&QR<&A%N%ZSKM^TQRC=HON:Q@HOKM>tHONZMC U KS^RC&C=N%I0, ' C[QTQRH]QRA%I%K

C=N%P=\OKM>
3 >">@?%<G}LN{HON"HOP=A%^@K % (_P_<<mIjKM>QRH U C[Q@KM><=X0, '^@<=\O\BC=N%P=\OK7C[N%I|ZoC U KS^RC,KS\OKF=CQRHO<=N
C=N%P=\OK
C=^TK
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QR?K
KM>TQ@H U C[QRKSI|QnC=^TP_KSQ\J<mZMC[QRHJ<_NHJ> U <=>TQ>TKMN%>THJQRH]F_K
QR<I%KFHdC[Q@HO<_N%>
HONQR?KM>@KjcDC=^@C U KQRKS^@>
?%KjXYC[ZSQLQR?DCQ,\J<mZMC=\OHJoC[Q@HO<_NHO>LKMiBADC=\J\ 9 >TKMN%>THJQ@HJF_KQR< 8 <[QR?20, '1^T<_\O\
C=N%IZMC U KS^RC{KM\JKSF[C[Q@HO<_NC=NP_\OKS>
HO>
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Q@?%KZoC U KM^@C
HO>LcDC[N%N%KMIQR<E^@<=A%P_?%\ 9 N%HJN%KSQ 9 I%KSP_^@KSKM>S(}L?HOZn?xC[\OHOP=N%>+V (%QR?%KjCmHO>LC 8 <_AQL}L?%HJZn?2KS\OKF=CQRHO<=N
<ZMZMA^@>M(=N%KoC=^T\ 9 cDC=^@C=\O\JKM\:QR<T (=QR?%KCmHO>"C 8 <=AQ"}L?%HJZn?{C=HJ^@ZM^@C[XQh^@<_\J\<ZMZSA%^@>
?%HJ>lC=\JHOP_N U KMN:Q
U KoC=N%>|Q@?%KV\O<ZoC[\OHOMC[QRHJ<_N C=\OP=<_^@H]QR? U ZoC[N%N%<=QWI%H]KS^@KSNBQ@HdC[Q@K 8 KSQv}KMKMNZn?DC=NP_KM>WHONKS\OKF=CQRHO<=N
C=N%P=\OKC=N%IZn?DC[N%P_KM>6HON&06 !^@<=\O\C=NP_\OK
uw vx }~
ezf hLi ! "5a "
#$&% "
mHJN%ZMKEQR?%Kb>@KMN>@HJQ@HJFHJQ 9 c\O<=Q@>tXf^T % ( % p C=N%I % C=^@Kb\OHJN%KoC=^<GF_KS^QR?K
KmcKMZQRKMIVKS^@^T<_^^RC=N%P=K=(BQR?%K6cDC=^QRHdC[\%I%KM^THJF[C[Q@HJF_K6<=XeQnC=^TP_KSQ+\O<ZoCQRHO<=N('W(iA%C[QRHJ<_Nx % p (:}LHJQ@?
12
Localization Error due to UAV Location Inaccuracies

East
North
Altitude
10
0
10
0
Parameter Uncertainty (m)
10
"HJP_A%^TK % p+mKMN%>THJQ@HJFHJQ 9 <=X"\J<mZMC=\OHJoC[Q@HO<_NWQR<EA%N%ZSKM^QnC=HJNBQ@HOKS>

HON&0, '!\O<ZoC[Q@HO<_N
^@KS>@cKMZQ3QR<EKoC[Zn?kKM^T^@<_^6>@<=A%^@ZSKjZMC=N 8 KjKS>TQ@H U C[QRKSIkC=>L>TH U c%\ 9 QR?%Kt>@\J<_ceK<=X"KoC=Zn?kZMA%^F_K D<_^
HONZM^@KMC=>@KSIZM<_NmgDI%KMNZMKHON QR?%KS>@KVcDC=^QRHOC=\O>S(hQR?K U KQR?%<I<=X,KMiBA%KMN:Q@HdC=\zhKM^QRA%^ 8 C[Q@HO<_Nyz+
I%HJ>@ZMA>@>@KSI4HJN p ,}7C=>C[\O>@<A%>@KSI4C[N%IQR?%Kk^@KM>TA%\JQ@>V<=X 8 <=QR? U KSQ@?%<mI>VC=^@K&QnC 8 A%\dC[Q@KMIHJN
hC 8 \OK
Localization Error due to Target Pixel Location Inaccuracies

Xip
1.8
ip
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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dezf
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p
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p q U [I%KMP
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[
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r
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q U [I%KMP
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a
q U U
q U U
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q U U
q U U
ba
q U U
q U U

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QR?DCQ,Q@?%KMHJ^LF[C=^THdC[Q@HO<_NZMC=N 8 KjZn?%C=^RC=ZQRKS^@HOSKMI 8:9 CbN<_^ U C=\I%HJ>TQR^TH]
8 AQ@HO<_NEC 8 <_AQ+C[NEKS>TQ@H U C[QRKSIWQRC=^@P=KSQ\O<ZoCQRHO<=N p 3>QR?K6NBA U8 KS^+<[XKS>TQRH U CQRKM>HJN%ZM^TKoC=>TKM>S(
QR?KA%N%ZSKM^QnC=HJNBQ 9 <=X7Q@?%HO>jKM>QRH U C[Q@KMI\J<mZMC[QRHJ<_N I%KMZS^@KoC[>@KM> 3>jQR?%KbA%N%ZMKS^TQRC=HON:Q 9 I%KMZS^@KoC[>@KM>S(
QR?KEKS>TQ@H U C[QRKSI \J<mZMC[QRHJ<_Nk}LHJ\O\lC[c%c%^@<_C=Zn? Q@?%K{QR^TA%K{QnC=^TP_KSQ\J<mZMC[QRHJ<_N vN<=Q@?%KM^}<_^@I%>S(hKMC=Zn?
C=I%IHJQRHJ<_NDC=\h^@KS>@A%\]Q}LHO\O\hQRKMNI Q@?%K U KMC=N<=X7C[\O\l^TKM>@A\JQR>Q@<~}C=^TIH]QR>ZMKSN:QR^RC[\F[C=\JA%K=(Q@?%KWQR^@AK
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QR?HO>HJ>HJNBQ@A%HJQ@HJF=KM\ 9 I<_A 8 QTXfA%\.(KSF=KMNQR?%K6gD\JQ@KM^@HJN%P U KSQ@?%<mI>I%HJ>@ZMA>@>@KSIHON>TKMZSQ@HO<_N r }LHJ\O\ 8 K
>@A 8 TKMZQ,Q@< 8 HdC=>LKM^T^@<_^T>
,% 54
' *%
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QnC[^@P_KQ|}L?%KMNH U C=P=KMIXf^TQv}<[ vIH U KMN%>THO<_NDC[\HJN
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U KSQR?<mIb<=X'KM>QRH U C[Q@HON%PQR?%HJ>I%H U KSN%>@HJ<_N(C=N%I>@?%<G}KMI?%<G}/QR?%HJ>KM>QRH U C[Q@K,\JKoC=I>QR<|CtQnC[^@P_KQ
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}C=>ZMC=\OZSA%\dCQRKMIW>TceKSZMHJg%Z6Q@<jKMC=Zn?H U C=P=K
<=XeQ@?%KLQnC=^TP_KSQ+ZoC[cQRA%^TKMI(?DC=cmQRKM^ C=\O>T<tIHO>@ZSA%>@>TKMI
>@KF_KS^RC=\ U KQR?%<I%><=XZS< U|8 HJN%HON%PQ@?%KM>TK3\O<ZoCQRHO<=N%>lQR?%^T<_A%P_?EgD\JQ@KM^T>I%KS>@HJP_N%KMIEQR<jZoC=N%ZSKM\N%<_HJ>@K

?%HJ>bZn?DC[cQRKS^}LHO\J\
c%^@KS>@KMN:QQ@?%K&^@KM>TA%\JQ@><=XC=ZSQ@ADC=\
QRKS>TQR>b^@A%NwHON?DC=^@Im}7C=^TKkQR< \O<ZoC[\OHOSKC
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?%Kb^@KM>TA%\JQ@>j<[X
C=NHON%H]QRHdC[\"?DC=^TI}C=^@KEKmcKM^@H U KSN:Q|C=^TKb>T?%<G}LNHON"HJP_A%^@K r
?%K
c%\J<=Q7>T?%<G}L>3C=ZQRADC[\.(KS>TQ@H U C[QRKSIVC=N%IVgD\]QRKM^TKMIVQnC[^@P_KQ
\O<ZoC[Q@HO<_N>Xf^@ZMHJ^@ZSA%\dC=^<=^ 8 H]Q+C=^@<_AN%IC[NHONHJQRHOC=\P_A%KM>T><=XeQR?%K
QRC=^@P_KQ+\O<ZoC[Q@HO<_N
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
"HJP_A%^TKtr ='<ZoC[\OHOMC[QRHJ<_N^TKM>TA%\JQ@>
3 >ZoC=N 8 Kk>TKMKSNHONhHOP_A%^TK r (7Q@?%K U C~T<_^THJQ 9 <=XQ@?%KkHJN%I%H]FmHJI%ADC=\
KS>TQ@H U C[QRKS>C=^TK
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QR?KM>@Kk^@KM>TA%\JQ@>M(7Q@?%KkKKSZSQ<[XXYC=ZSQ@<_^@>b>@A%Zn?/C[>>TQ@KoC=I 9 }LHJN%I%>b>@?%<_A\OI 8 K2ZS<_N%>THOI%KS^@KMI/C[N%I
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^@<=\O\
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C=ZSZMA%^@C[QRK U KSQ@?%<I<=X U KoC[>@A%^THON%P&QR^@AK?%KoC[I%HON%P vN%>QRKMC=I(Cxz+?%KMC=I%HONPxHO> U KMC=>@A^@KMI(
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}LHONI%>C[^@KceKS^@cKMN%IHOZMA\dC=^{QR<QR?KkC=HJ^@ZS^RC[XQM>WI%HJ^@KMZQRHJ<_N<=X3Q@^RCoF_KS\ ,NC=HJ^@ZS^RC[XQ{Q@^RCoF_KS\OHONP
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2
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c<_>TQ vc%^T<mZSKM>@>TKMI(IHO>@^TKMP:C[^@I%HJN%PxC=\J\QnC=^TP_KSQ\O<ZoC[Q@HO<_NKM>QRH U C[Q@KM>jP_KMN%KS^RC[Q@KMI}L?%KSNQR?%K0, '
}C=>3QR^@CoF_KM\JHON%PbceKS^@cKMN%IHOZMA\dC=^LQR<EQR?%K|r U c?2}LHONI
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QR?K,KS>TQRH U CQRKMIWQnC[^@P_KQ\J<mZMC[QRHJ<_N|}LHJQ@?%HON&Gq U KQRKS^@>+<=XQ@?%K3C[ZSQRA%C=\DQnC=^TP_KSQ+\O<ZoCQRHO<=N(:C=>+>@KSKMN
HON&"HJP_A%^TK r p
Localization Experimental Data: Altitude = 60 m, Winds 5 mph from 290 deg

UAV Path
Raw Estimate
True Avg
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
"HJP_A%^@Ktr pm<ZoC=\JHOMC[QRHJ<_N^TKM>@A\JQR>6C=ZSZM<_ANBQ@HON%PWXf<_^7}LHJN%I
Localization Experimental Data: Altitude = 60 m, Winds 5 mph from 290 deg
10
UAV Path
Raw Estimate
True Avg
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
"HOP=A%^@Ktr +\J<_>@KSA%c2<[X"\J<mZMC=\OHJoC[Q@HO<_NE^@KS>@A%\]QR>
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Convergence of Localization Errors
40
True Avg
Moving Avg
RLS
Kalman
35
30
25
20
15
10
5
20
40
60
80
Time (s)
100
120
140
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Brigham Young University

Vision-based Target Localization from a Small,

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

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