2026-06-24T19:51:58Z https://meral.edu.mm/oai

oai:meral.edu.mm:recid/3476 2022-03-24T23:11:37Z 1582963302567:1597824273898 user-ucsy

Horizontal-based Attitude Estimation for Real-time UAV control Arakawa, Maiko Okuyama, Yuichi Mie, Shunsuke Abderazek, Ben Abdallah An attitude estimation is an important processfor auto-piloting unmanned aerial vehicles (UAVs)control. We implemented the attitude estimationsystem from the visible horizon in the images. We useimages from the camera to compensate IMU (Inertialmeasurement units). We used FPGA since the imageprocessing needs hard computation and UAV’scontrol needs hard real-time processing. The horizonis detected through the use of morphologicalsmoothing, Sobel filter and Hough transform. Runlengthencoder is used before Hough transform toreduce memory bandwidth. The system isimplemented by high-level synthesis and on ZynqUltraScale+MPSoC ZCU102. The result shows thesystem is faster than the implementation usingdesktop computer four times. 2019-02-27 http://hdl.handle.net/20.500.12678/0000003476 https://meral.edu.mm/records/3476