%0 Book Section
%@nexthigherunit 8JMKD3MGPCW/46KUES5
%3 penha_uav.pdf
%4 sid.inpe.br/mtc-m21c/2021/01.05.14.33
%A Penha Neto, Gerson da,
%A Campos Velho, Haroldo Fraga de,
%A Shiguemori, Elcio Hideiti,
%@secondarytype PRE LI
%B Proceedings of the 5th International Symposium on Uncertainty Quantification and Stochastic Modelling
%D 2021
%E Cursi, J. E. S.,
%@secondarykey INPE--/
%I Springer
%K Unmanned Aerial Vehicles, Autonomous navigation, Image processing, Self-configuring neural network, Uncertainty quantification.
%P 211-221
%T UAV autonomous navigation by image processing with uncertainty trajectory estimation
%X Unmanned Aerial Vehicles (UAV) is a technology under strong development, with application on several fields. For the UAV autonomous navigation, a standard scheme is to use signal from a Global Navigation System by Satellite (GNSS) onboard. However, such signal can suffer natural or human interference. Our approach applies image processing procedure for the UAV positioning: image edge extraction and correlation between drone image and georeferenced satellite image. A data fusion is also applied, for combining the inertial sensor data and positioning by image. The data fusion is performed by using neural network. The output from the data fusion neural network is the correction for the UAV trajectory. Here, the variance of the trajectory error is also predicted to quantify the uncertainty.
%@area COMP
%@electronicmailaddress gerson.penha@inpe.br
%@electronicmailaddress haroldo.camposvelho@inpe.br
%@electronicmailaddress elcio@ieav.cta.br
%@group
%@group COPDT-CGIP-INPE-MCTI-GOV-BR
%@dissemination BNDEPOSITOLEGAL
%@isbn 978-303053668-8
%@usergroup simone
%@resumeid
%@resumeid 8JMKD3MGP5W/3C9JHC3
%@affiliation Instituto Nacional de Pesquisas Espaciais (INPE)
%@affiliation Instituto Nacional de Pesquisas Espaciais (INPE)
%@affiliation Instituto de Estudos Avançados (IEAv)
%@versiontype publisher
%@holdercode {isadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S}
%@doi 10.1007/978-3-030-53669-5_16
%2 sid.inpe.br/mtc-m21c/2021/01.05.14.33.08