Publicaciones realizadas en congresos a lo largo de la carrera profesional
I.F.Finazzi, V. M. Fico and M.M. Prats
A new algorithm for horizon detection and attitude estimation
23rd Conference of the Italian Association of Aeronautics and Astronautics, AIDAA.
Italy: Torino, 2015.
AbstractNowadays the UAV field is in a intense phase of expansion and miniaturization. Several efforts are being done by scientists and engineers to implement navigation, guidance and control systems with low computational load and high performances.
Taking into account those restrictions, this work aims to improve the attitude estimation using images from a generic camera mounted on most UAVs. Images provide a valuable information source however, extract it from them is generally difficult and computationally expensive. An intense study of the state-of-the-art techniques for pitch and roll angles estimation show that a three step method is commonly used. Such steps are: the edge detection, the skyline detection using the Hough transform and the pitch and roll angles estimation.
This paper describes a new algorithm which differs from other techniques mainly in the skyline detection phase. The algorithm, using the previous skyline detection, looks for the closeredge detected.
Once the first horizon point is found, the algorithms search for the closest vertical match in the next column. Basing on such roughly estimated horizon, the algorithm defines a search
zone around it and then applies a linear regression least squares method on the reduced set of points. It can be easily implemented with very low computational load.
The algorithm has been successfully validated, being of interest not only for the aerospace industry but also for academia.
I.Soldado, J. G. Doblado and I.F.Finazzi
SIMless GSM Positioning System for Navigation in GPS-Denied Environments
6th EASN International Conference on Innovation in European aeronautics research.
Portugal: Porto, 2016.
I.F.Finazzi, L. Parrilla, U. Amador, V.M. Fico, M.M. Prats
Attitude estimation using airborne cameras
4th CEAS Specialist Conference on Guidance, Navigation & Control – Euro GNC 2017 .
Poland: Warsaw, 2017.
AbstractNowadays, cameras are included in most drones or even in some commercial aircrafts such as A380. In this context, it can result of interest to take advantage of this currently on-board equipment in order to make measures of attitude or even distance to objects. In the case of attitude, measurements provided by cameras may not be appropiate for a primary system because of the lack of accuracy or reliability. Nevertheless, these pitch and roll estimations can improve safety when used for fault detection purposes on primary systems. Therefore, this system can be of interest for both drones and commercial aviation. An intense study of the state-of-the-art techniques for pitch and roll angles estimation show that a three step method is commonly used. Those steps are: edge detection, skyline calculation using the Hough transform and the pitch and roll angles estimation. This paper describes a new algorithm which mainly differs from other techniques in the skyline detection phase.