Autonomous long-range navigation in GNSS-denied environment with low-cost UAV platform
Autonomous long-range navigation in GNSS-denied environment with low-cost UAV platform
复制标题
利用低成本无人机平台在 GNSS 拒绝环境中进行自主远程导航
DOI：
10.1109/syscon.2018.8369592
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
E. H. Shiguemori
中科院分区：
文献类型：
--
作者：
A. R. Kuroswiski;N.M.F. Oliveira;E. H. Shiguemori
在许多情况下，特别是在 GNSS 信号不可靠的情况下，都需要无人机能够在 GNSS 拒绝环境中导航。在这项工作中，提出了一种基于低成本无人机平台的解决方案，该解决方案使用地标识别算法来补偿惯性传感器误差累积，旨在独立于 GNSS 信息执行远程导航。实时仿真结果验证了无人机控制与计算机视觉融合的有效性，成功完成了20.7公里长、400米高的导航，系统能够对整个航线进行坐标估计，平均误差低于6米。
The capability of an Unmanned Aerial Vehicle to navigate in GNSS-denied environments is desired in many situations, especially in situation in which the GNSS signal is not trustable. In this work is presented a solution based on a low-cost UAV platform, that uses a Landmark Recognition algorithm to compensate the inertial sensors errors cumulation, aiming to perform a long-range navigation, independently of GNSS information. The results in a real-time simulation demonstrated the effectiveness of the integration between the UAV control and the computer vision, performing a successful navigation of 20.7 km long at 400 meters high, where the system has been able to estimate the coordinates during the whole route, with an average error lower than 6 meters.
DOI：
10.1007/978-1-4842-5860-6_8
发表时间：
2020
期刊：
Rust for the IoT
影响因子：
--
作者：
Joseph Faisal Nusairat
通讯作者：
Joseph Faisal Nusairat