A Simulation Environment for Evaluating Image Processing Techniques for UAV Applications 2009-01-3221
The objective of this research was to investigate the feasibility of using visual sensor technology to estimate the UAV's pitch, roll, and groundspeed for future use in advanced flight controls. In order to perform the investigation, a simulation environment was implemented for vision-based control of a UAV. The environment included a Simulink model of a generic UAV, including the flight dynamics, flight controller, and sensors. It also included an open-source graphical simulation, which is able to simulate vision sensors at any location and orientation on the aircraft. The images from the simulated vision sensors were fed back to the Simulink model through a frame grabber.