A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems

作者：Cooper Andrew James; Redman Chelsea Anne; Stoneham David Mark; Gonzalez Luis Felipe^*; Etse Victor Kwesi

来源：Sensors (Switzerland), 2015, 15(9): 21537-21553.

DOI：10.3390/s150921537

• unmanned aircraft system
• predictive path planning
• societal integration
• dynamic waypoint navigation
• aerial photography
• aerial filming

This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.

• 出版日期2015-9