3D model of landmarks for autonomous navigation of unmanned aerial vehicles
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Date
2017
Journal Title
Journal ISSN
Volume Title
Publisher
National Aviation University
Abstract
Almost all unmanned aerial vehicles are equipped with inspection earth surface systems that can be used to obtain information about the location of the aircraft using survey-comparative navigation
methods. The autonomous determination of unmanned aerial vehicle coordinates with the use of survey-
comparative methods of navigation is to finding landmarks whose location is known by their geometric
characteristics. Most precisely, the geometric characteristics of 3D object can be obtained using its
mathematical model, based on the basic elements of the form. A mathematical model of an object can be
represented in the form of two matrices, the elements of which contain information about the shape of the
object and the underlying surface, their size and reflective characteristics. The result of determining the
location of the unmanned aerial vehicle is the correct solution to the task of recognizing landmarks. In
real conditions, it is very difficult to determine the angles of orientation of objects in advance, so it is
necessary to apply the mathematical model of the object and determine its characteristics for different
orientation angles in relation to the unmanned aerial vehicle. Consequently, the high probability of
detecting the landmark is achieved by applying its mathematical 3D model and determining two
independent signs of volume and average height for its recognition, it is depending on the angles of its
orientation and geometric shape.
Description
Keywords
survey-comparative navigation methods, geometric features, basic elements of the form, mathematical model of the object