UAV positioning algorithm based on ground reference

Abstract

In this article, the algorithm of UAV positioning based on ground check points is considered. Differ from the most publications, in which UAV coordinates are determined by GPS or/and IMU, the proposed algorithm used results of image processing technology. Thank to image processing technique, the coordinates of ground check points in camera’s frame are determined, then UAV coordinates will also be determined. With the measured parameters such as UAV’s orientation and attitude, camera’s elevation and azimuth angle, position of UAV relative to ground check points is determined, then other UAV coordinates are also determined. The proposed algorithm is mathematically proved and verified by symulation.