Abstract: The present disclosure relates to a method and system for simulating an unmanned aerial vehicle (UAV) and simulating an environment in which the UAV may be flying. A plurality of visual sensors, e.g., cameras, positioned on the UAV, may be simulated. A UAV simulator is configured to simulate the UAV and a graphical simulator is configured to simulate the environment. The UAV simulator may be configured to: estimate pitch, roll and/or groundspeed based, at least in part, on outputs from the visual sensors, determine a position and/or an orientation of the simulated UAV in the simulated environment based, at least in part, on the estimate(s) and provide the position and/or orientation to the graphical simulator. The graphical simulator may be configured to display the simulated UAV at the position and/or orientation in the simulated environment and/or to display the simulated camera view(s).

Abstract: A method for defining a following path for a following vehicle to autonomously follow a leader, the method including acquiring waypoints associated with a path that the leader traverses; filtering the acquired waypoints, wherein the filtering removes waypoints located outside an area of interest; generating intermediate waypoints by interpolating between adjacent pairs of the filtered waypoints if the adjacent pairs of the filtered waypoints are separated by a distance that exceeds a threshold distance; and defining a following path through the filtered waypoints and the intermediate waypoints using a least-squares spline fit to calculate the following path.

Abstract: The present disclosure relates to a method and system for simulating an unmanned aerial vehicle (UAV) and simulating an environment in which the UAV may be flying. A plurality of visual sensors, e.g., cameras, positioned on the UAV, may be simulated. A UAV simulator is configured to simulate the UAV and a graphical simulator is configured to simulate the environment. The UAV simulator may be configured to: estimate pitch, roll and/or groundspeed based, at least in part, on outputs from the visual sensors, determine a position and/or an orientation of the simulated UAV in the simulated environment based, at least in part, on the estimate(s) and provide the position and/or orientation to the graphical simulator. The graphical simulator may be configured to display the simulated UAV at the position and/or orientation in the simulated environment and/or to display the simulated camera view(s).