Attitude determination from single camera vector observations

Tsourdos, Antonios; Zadovski, V.; Silson, P.

dc.contributor.author	Tsourdos, Antonios
dc.contributor.author	Zadovski, V.
dc.contributor.author	Silson, P.
dc.date.accessioned	2010-09-17T11:06:08Z
dc.date.available	2010-09-17T11:06:08Z
dc.date.copyright	(c)2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
dc.date.issued	2010-09-17
dc.identifier.uri	http://dspace.lib.cranfield.ac.uk/handle/1826/4556
dc.description	Published in Intelligent Systems (IS), 2010 5th IEEE International Conference, 7-9 July 2010, 49 - 54. DOI: 10.1109/IS.2010.5548331	en_UK
dc.description.abstract	Attitude determination is of major importance in Guidance and Control Systems of the Unmanned Aerial Vehicles (lIAVαs). Supplying wrong or imprecise attitude can very often be catastrophic for the UAVαs. Vision sensors are nowadays essential as they provide a rich source of information given as relative measurements between the vehicle navigation parameters (position, velocity and attitude) and the environment. This paper presents a framework for attitude determination from single camera vector observations. We assume a known environment in a form of a map and true vehicle positions from which each observation has been taken. Two different methods for attitude determination are presented: an iterative numerical solution based on Gauss Newton's method and an exact method known as the Davenport q-method. Pros and cons ofthe both solutions are presented.	en_UK
dc.language.iso	en	en_UK
dc.title	Attitude determination from single camera vector observations	en_UK
dc.type	Article	en_UK