GPS and navigation GPS)، GLONASS، GALILEO
MohammadAli Amiri Atashgah; Seyyed Mohammad-Jafar Tabib
Volume 14, Issue 2 , June 2021, , Pages 49-59
Abstract
This research represents localization of an aerial robot using fisheye cameras on walls in a simulation environment. The virtual testbed in this work is a quadrotor that is simulated in MATLAB Simulink. Subsequently, the simulation outputs as flight records are used in a virtual lab, which is developed ...
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This research represents localization of an aerial robot using fisheye cameras on walls in a simulation environment. The virtual testbed in this work is a quadrotor that is simulated in MATLAB Simulink. Subsequently, the simulation outputs as flight records are used in a virtual lab, which is developed in 3DsMAX. Then, the virtual fisheye cameras (here two) are installed in some different points on the walls and the related images from the cameras are received offline. The gathered images will be processed by OpenCV in a C++ environment. For external calibration, each fisheye camera takes an image from a known pattern consist of some lights placed in the virtual lab. We execute Perspective-n-Point method on the images to obtain pierce direction/position of the camera. For more, the aerial robot is localized by computing the nearest point between two lines of sight. In brief, the outcomes exhibit an accuracy of 4cm in the center of the virtual-room room.
MohammadAli Amiri Atashgah; Hamid Gazerpour; seyed Amirreza Roghangir
Volume 9, Issue 3 , December 2016, , Pages 13-26
Abstract
This paper is dedicated to determining the orbit of a satellite by using Unscented Kalman Filter (UKF), in which, a GNSS is used as the observation sensor. During this goal, firstly we have simulated the satellite orbit; considering oblations effect. Secondly, exploiting a nonlinear model of orbit dynamics, ...
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This paper is dedicated to determining the orbit of a satellite by using Unscented Kalman Filter (UKF), in which, a GNSS is used as the observation sensor. During this goal, firstly we have simulated the satellite orbit; considering oblations effect. Secondly, exploiting a nonlinear model of orbit dynamics, preliminary orbit determination is prepared via UKF algorithm. The range between the satellites and space vehicle as the parameter of observation in the filter is obtained. Afterwards, the estimated preliminary output data is corrected and more precise position of the GNSS satellite is determined based on predicted observations errors. Consequently, the outcomes of the research exhibits the acceptable satellite orbit determination error range.
