@inproceedings{b64a0475a0d1485ead50f991ef8907ca,
title = "An Optical-Flow-Assisted Navigation Method for UAVs Using Sage-Husa EKF",
abstract = "Small unmanned aerial vehicles (UAVs) are usually equipped with low-cost global positioning systems (GPS)/inertial integrated navigation systems. In the GPS-denied environment, the low-cost inertial navigation system cannot meet the navigation requirements due to information divergence. This paper proposes an optical-flow-assisted navigation method for UAVs. Firstly, an improved sum of absolute difference (SAD) block matching algorithm is proposed to calculate the optical flow fields. Then, the calculated results are combined with range information to calculate the optical flow line-of-sight (LOS) angular velocity. Finally, the Sage-Husa EKF is used to fuse the inertial and optical flow information to suppress the divergence of inertial navigation information. Different matching criteria are used to calculate the optical flow field for the images collected by the vision sensors. The calculation results show that the improved SAD block matching algorithm can balance the accuracy and real-time performance of the calculation. The Sage-Husa EKF is used for the offline fusion of UAV sensor data. By comparing the results with those obtained by classical EKF method, this method proves to be able to suppress the filter divergence occurred in the information fusion process. The mean squared error (MSE) of the filtering results is improved.",
keywords = "LOS angular velocity, Sage-Husa EKF, UAV navigation system, optical flow",
author = "Ke Hu and Xueyong Wu and Huaxing Xu and Juan Li and Jie Li",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.; International Symposium on Automatic Control and Emerging Technologies, ACET 2023 ; Conference date: 11-07-2023 Through 13-07-2023",
year = "2024",
doi = "10.1007/978-981-97-0126-1_2",
language = "English",
isbn = "9789819701254",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "14--28",
editor = "{El Fadil}, Hassan and Weicun Zhang",
booktitle = "Automatic Control and Emerging Technologies - Proceedings of ACET 2023",
address = "Germany",
}