Integrating IMU and optical flow sensors for enhanced drone velocity control

John Cain; Djedjiga Belfadel; David Haessig; Cherif Chibane

doi:10.1117/12.3013245

7 June 2024 Integrating IMU and optical flow sensors for enhanced drone velocity control

John Cain, Djedjiga Belfadel, David Haessig, Cherif Chibane

Proceedings Volume 13057, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXIII; 1305705 (2024) https://doi.org/10.1117/12.3013245
Event: SPIE Defense + Commercial Sensing, 2024, National Harbor, Maryland, United States

Abstract

This paper proposes a vision-aided system to control the horizontal velocity of Unmanned Aerial Vehicles (UAVs). It fuses data from an Inertial Measurement Unit (IMU) and optical flow sensor to measure horizontal velocity. The IMU provides angular rate and acceleration data, while the optical flow sensor provides a two-dimensional incremental displacement of the scene in view. Fusing these complementary data sources facilitates velocity control without Global Positioning System (GPS) dependency. A series of simulations validated the system’s effectiveness, performed at lower altitudes where the optical flow sensor functions best. Results demonstrate that fusing the sensors enables accurate horizontal velocity control, reducing position drift and navigation error compared to using inertial data alone.

Conference Presentation

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

John Cain, Djedjiga Belfadel, David Haessig, and Cherif Chibane "Integrating IMU and optical flow sensors for enhanced drone velocity control", Proc. SPIE 13057, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXIII, 1305705 (7 June 2024); https://doi.org/10.1117/12.3013245

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