A 3D sky compass to achieve robust estimation of UAV attitude

Jouir, Tasarinan, Strydom, Reuben and Srinivasan, Mandyam V. (2015). A 3D sky compass to achieve robust estimation of UAV attitude. In: ACRA 2015. Australasian Conference on Robotics and Automation (ACRA 2015), Canberra, ACT, Australia, (). 2-4 December 2015.

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Name Description MIMEType Size Downloads
Author Jouir, Tasarinan
Strydom, Reuben
Srinivasan, Mandyam V.
Title of paper A 3D sky compass to achieve robust estimation of UAV attitude
Conference name Australasian Conference on Robotics and Automation (ACRA 2015)
Conference location Canberra, ACT, Australia
Conference dates 2-4 December 2015
Convener Robert Mahony
Proceedings title ACRA 2015
Place of Publication Canberra, ACT, Australia
Publisher ARAA
Publication Year 2015
Sub-type Fully published paper
Open Access Status Not Open Access
Total pages 19
Collection year 2016
Language eng
Abstract/Summary This study describes a novel, pure vision-based, method of obtaining the 3DOF attitude of an aircraft through the use of panoramic images of the sky. An iterative optimisation algorithm is applied to estimate the rotation of the aircraft in 3DOF by minimising the sum of absolute differences between two video frames of the sky. This method is unaffected by cumulative integration error, as all estimations are computed with respect to an initial reference image. Furthermore, the adverse effects resulting from movement of objects in the sky or changes in light intensity are ameliorated through the use of an adaptive reference image. Overall, the results illustrate the potential of this system to produce attitude estimates with an accuracy rivalling and in some cases surpassing those of two alternative vision-based methods, and an industry standard IMU.
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ

Document type: Conference Paper
Collections: Queensland Brain Institute Publications
Official 2016 Collection
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Created: Tue, 15 Dec 2015, 13:20:45 EST by Susan Day on behalf of Queensland Brain Institute