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Sensors 2015, 15(9), 21537-21553; doi:10.3390/s150921537

A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems

Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia
These authors contributed equally to this work.
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Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 4 July 2015 / Revised: 13 August 2015 / Accepted: 24 August 2015 / Published: 28 August 2015
(This article belongs to the Section Remote Sensors)
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Abstract

This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement. View Full-Text
Keywords: unmanned aircraft system; predictive path planning; societal integration; dynamic waypoint navigation; aerial photography; aerial filming unmanned aircraft system; predictive path planning; societal integration; dynamic waypoint navigation; aerial photography; aerial filming
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Cooper, A.J.; Redman, C.A.; Stoneham, D.M.; Gonzalez, L.F.; Etse, V.K. A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems. Sensors 2015, 15, 21537-21553.

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