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Fıxed Wıng Uav Target Geolocatıon Estımatıon From Camera Images

dc.contributor.advisorSümer, Bilsay
dc.contributor.authorKeskin, Ali
dc.date.accessioned2021-11-24T12:44:52Z
dc.date.issued2021
dc.date.submitted2021-09-21
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dc.identifier.urihttp://hdl.handle.net/11655/25644
dc.description.abstractIn this thesis, a target geolocation measurement model for a fixed wing unmanned aerial vehicle which equipped with an image processing system and standard sensors has been created. The measurement model begins to calculate the position of the relevant stationary target when the moment the target of interest is selected in the image. The Extended Kalman filter, which uses the pixel position of the target in the image plane, position, and angular position of the aircraft, is developed for the measurement model. Different from previous studies, the deviation of camera placement angles has been taken into account in the designed filter. In the flight tests, the target position was calculated with an accuracy of 5 meters, from a distance around 400 meters, in a time interval of 15-20 seconds. Also, camera placement angle errors were calculated with a precision of 1 degree. In addition, a loitering maneuver control algorithm has been designed that uses the pixel position of the target on the image plane. This control algorithm holds the target in the camera field of view and desired distance between UAV and target. Unlike the common loitering control algorithms such as waypoint navigation, this loitering maneuver control algorithm is designed independently from any GPS measurement. Hence, it will work regardless of GPS, as long as the angular positions of the aircraft are measured correctly. The control algorithm is designed as modular, so it can be used in any fixed-wing aircraft which has an image processing system and standard sensors. It can be easily implemented as an outer loop for roll attitude controllers. Keywords: Target geolocation, Image based GPS denied loitering, Image based target line of sight estimationtr_TR
dc.language.isoentr_TR
dc.publisherFen Bilimleri Enstitüsütr_TR
dc.rightsinfo:eu-repo/semantics/openAccesstr_TR
dc.rightsAttribution-NonCommercial 3.0 United States*
dc.rights.uriAn error occurred getting the license - uri.*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/3.0/us/*
dc.subjectTarget geolocationtr_TR
dc.subjectImage based GPS denied loiteringtr_TR
dc.subjectImage based target line of sight estimationtr_TR
dc.subject.lcshMakina mühendisliğitr_TR
dc.titleFıxed Wıng Uav Target Geolocatıon Estımatıon From Camera Imagestr_en
dc.title.alternativeSabıt Kanat İha’lar İçin Kamera Bazlı Hedef Konum Kestirimitr_tr
dc.typeinfo:eu-repo/semantics/masterThesistr_TR
dc.description.ozetBu tez çalışmasında görüntü işleme sistemine sahip ve standart algılayıcılarla donatılmış sabit kanatlı bir insansız hava aracı için ilgili hedefin coğrafi konumunu hesaplayan ölçüm modeli oluşturulmuştur. Ölçüm modeli, görüntüde ilgilenilen hedefin seçildiği andan itibaren ilgili sabit hedefin konumunu hesaplamaya başlar. Ölçüm modeli için hedefin görüntü düzlemindeki piksel konumunu ve hava aracının konumunu, hızını ve açısal pozisyonunu kullanan genişletilmiş Kalman filtresi kullanılmıştır. Tasarlanan filtre de önceki çalışmalardan farklı olarak kamera yerleşim açılarının sapması dikkate alınmıştır. Uçuş testlerinde yaklaşık 400 metre uzaklıktan, 15 - 20 saniye süre aralığında, 5 metre hassasiyetinde hedef konumu hesaplanmıştır. Ayrıca, kamera yerleşim açı hataları da 1 derece hassasiyetinde hesaplanmıştır. Ek olarak, hedefin görüntü düzleminde bulunan piksel konumunu referans alan ve hava aracının hedef etrafında dolanmasını sağlayan kontrol algoritması tasarlanmıştır. Bu kontrol algoritması, hedefi kamera görüş alanında tutar ve İHA ile hedef arasındaki mesafeyi kontrol eder. Tasarlanan bu algoritma, nokta navigasyonu gibi mevcut manevralardan farklı olarak herhangi bir GPS ölçümüne ihtiyaç duymamaktadır. Dolayısı ile bu algoritma GPS'den bağımsız olarak hava aracının açısal pozisyon bilgileri doğru ölçüldüğü sürece çalışacaktır. Kontrol algoritması modüler olarak tasarlanmıştır ve bu sayede görüntü işleme sistemine ve standart algılayıcılara sahip bir sabit kanat hava aracında kullanılabilir. Yuvarlanma açısı kontrolcüleri için bir dış döngü olarak kolaylıkla uygulanabilir. Anahtar Kelimeler: Hedef konum kestirimi, Görüntü bazlı GPS’den bağımsız hedef etrafında dolanma manevrası, Görüntü bazlı hedef görüş hattı hesaplamatr_TR
dc.contributor.departmentMakine Mühendisliğitr_TR
dc.embargo.termsAcik erisimtr_TR
dc.embargo.lift2021-11-24T12:44:53Z
dc.fundingYoktr_TR
dc.subtypelearning objecttr_TR


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