27th Congress of International Council of the Aeronautical Sciences, 19 - 24 September 2010, Nice, France
Paper ICAS 2010-6.6.4

TOWARDS A UAV VISUAL AIR-TO-GROUND TARGET TRACKING IN AN URBAN ENVIRONMENT

Y. Watanabe, P. Fabiani, G. Le Besnerais
ONERA, France

Keywords: uav, vision-aided inertial navigation, target tracking

This paper develops an UAV navigation and guidance system for air-to-ground target tracking in an urban environment. The integrated vision/inertial navigation filter is designed to simultaneously estimate the target and UAV states without GPS. The guidance law which achieves tracking while enhancing the navigation accuracy is proposed.

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