Real-time Onboard Multi-sensor Navigation Systems for Unmanned Aerial Vehicles in GPS-challenging Environments

GPS 挑战环境中无人机的实时机载多传感器导航系统

• 批准号: RGPIN-2017-06261
• 负责人: Atia, Mohamed
• 金额: $ 2.11万
• 依托单位: Carleton University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=637671
• 关键词: Real; time; Onboard; Multi; sensor

Unmanned Aerial Vehicles (UAVs) are being increasingly utilized in wide range of applications in remote sensing, situation awareness, and mobile mapping. They have the ability to carry sensors, processors, transmitters, and imaging equipment and they have unique omnidirectional maneuvering characteristics. Safe operation of UAVs requires accurate positioning and navigation systems. Present UAV positioning technology is dominated by Global Navigation Satellite Systems (GNSS) integrated with high-rate onboard inertial measurement units(IMU). Unfortunately, GNSS/IMU technology fails significantly in obstructed environments such as dense urban and indoor areas due to satellite signal blockage and IMU errors. This limitation currently prevents UAVs from being used to perform low-altitude tasks in complex obstructed environments.

无人机 (UAV) 越来越多地应用于遥感、态势感知和移动测绘等领域。它们能够携带传感器、处理器、发射器和成像设备，并且具有独特的全向机动特性。无人机的安全运行需要精确的定位和导航系统。目前的无人机定位技术以全球导航卫星系统（GNSS）与高速机载惯性测量单元（IMU）集成为主。不幸的是，由于卫星信号阻塞和 IMU 误差，GNSS/IMU 技术在密集城市和室内区域等遮挡环境中会显着失效。目前，这一限制阻碍了无人机在复杂障碍环境中执行低空任务。