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10.3390/s150921537

http://scihub22266oqcxt.onion/10.3390/s150921537
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suck abstract from ncbi


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pmid26343680      Sensors+(Basel) 2015 ; 15 (9): 21537-53
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  • A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems #MMPMID26343680
  • Cooper AJ; Redman CA; Stoneham DM; Gonzalez LF; Etse VK
  • Sensors (Basel) 2015[Sep]; 15 (9): 21537-53 PMID26343680show ga
  • 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.
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