Relative navigation of autonomous GPS-degraded micro air vehicles
Relative navigation of autonomous GPS-degraded micro air vehicles
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DOI：
10.1007/s10514-019-09899-4
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发表时间：
2020-01
影响因子：
3.5
通讯作者：
David O. Wheeler;D. Koch;James Jackson;Gary Ellingson;Paul W. Nyholm;T. McLain;R. Beard
中科院分区：
文献类型：
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作者：
David O. Wheeler;D. Koch;James Jackson;Gary Ellingson;Paul W. Nyholm;T. McLain;R. Beard
与当前许多微型飞行器的导航方法不同，本文提出的相对导航（RN）框架通过相对于本地参考系工作，确保滤波器状态在GPS拒绝的环境中保持可观察。通过巧妙地重构问题，RN确保滤波器不确定性保持有界、一致和正态分布，并将飞行关键估计和控制过程与大的全局更新隔离开来。本文全面概述了RN框架，并证明了它的实用性与几个长期飞行测试在未知的GPS拒绝和GPS退化的环境。相对的前端，以产生低漂移的估计和平滑，稳定的控制，同时利用现成的算法。该系统通过板载处理实现真实的实时运行，融合各种视觉传感器，可在室内和室外工作，无需针对特定传感器或环境进行特殊调整。RN是全球一致的，度量，并通过将环路封闭和间歇性的GPS测量本地化的地图。
Unlike many current navigation approaches for micro air vehicles, the relative navigation (RN) framework presented in this paper ensures that the filter state remains observable in GPS-denied environments by working with respect to a local reference frame. By subtly restructuring the problem, RN ensures that the filter uncertainty remains bounded, consistent, and normally-distributed, and insulates flight-critical estimation and control processes from large global updates. This paper thoroughly outlines the RN framework and demonstrates its practicality with several long flight tests in unknown GPS-denied and GPS-degraded environments. The relative front end is shown to produce low-drift estimates and smooth, stable control while leveraging off-the-shelf algorithms. The system runs in real time with onboard processing, fuses a variety of vision sensors, and works indoors and outdoors without requiring special tuning for particular sensors or environments. RN is shown to produce globally-consistent, metric, and localized maps by incorporating loop closures and intermittent GPS measurements.