Algoritmo de paralelización para la estimación en tiempo real del ángulo de guiñada de un UAV

Determination of the vehicle orientation is fundamental for any autonomous tasks. Magnetometer readings may be inaccurate on indoor vehicles given metallic structures, electric and electronic devices. In this work a real time parallel algorith for yaw determination based on images processing instead of magnetometer readings is presented. The system is implemented in a ground station to aid a hovering unmanned aerial vehicle with an onboard down looking camera. This system is able to perform a real time spectral analysis of the images for rotation determination. Image processing is made on a little Beowulf cluster of desktop machines with shared resources. To assess the accuracy, runtime, scalability and speedup results of the implementation of the system on public data sets are shown.