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
基本信息
- 批准号:RGPIN-2017-06261
- 负责人:
- 金额:$ 2.11万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Discovery Grants Program - Individual
- 财政年份:2020
- 资助国家:加拿大
- 起止时间:2020-01-01 至 2021-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
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.
To fill this gap, utilization of onboard vision/range sensors for accurate positioning and navigation has been extensively studied in the last decade. However, there are several challenges that prevent current systems from being safely adopted and commercially utilized. One major drawback is lack of robustness due to the limited ability of current sensor fusion methods to handle massive streams of heterogeneous sensors with different highly nonlinear noise characteristics in a dynamically changing environment. Another major drawback is the expensive computation. Vision/range-based integrated positioning systems have to process massive scans of data at extremely high rates to assure stable control of UAV platforms.
Small scale UAVs have additional challenges. Their truly 3D maneuvering and hovering impose several challenges on the estimation methods and real-time performance. In addition, the high vibration and electromagnetic interference exhibited by rotors cause immediate sensors errors that are difficult to model. Both accelerometers and gyroscopes suffer from large noise under high vibration and magnetometers do not work properly in close proximity to electromagnetic interference sources.
Building on the applicant's previous work in multi-sensor positioning systems, this research program will focus on advancing the positioning and navigation capabilities of small scale UAV platforms in complex obstructed GNSS-challenging/denied environments. The research will explore the integration of artificial intelligence methods and fuzzy theory with conventional signal processing and estimation techniques to develop new motion models that are suitable for UAV dynamics and novel nonlinear adaptive sensor fusion methods that can handle heterogeneous low-cost noisy sensors. Onboard real-time processing will be optimized using Graphical-Processing-Unit “GPU”-enabled processors. The research outcomes can be readily applied in other emerging technologies such as self-driving cars, autonomous robots, and augmented reality.
无人机在遥感、态势感知和移动的测绘等领域的应用越来越广泛。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,无人机定位技术主要是全球导航卫星系统(GNSS)与高速率机载惯性测量单元(IMU)集成。不幸的是,GNSS/IMU技术由于卫星信号阻塞和IMU误差而在诸如密集的城市和室内区域的障碍环境中显著失败。这种限制目前阻止了无人机在复杂的障碍环境中执行低空任务。
为了填补这一空白,利用机载视觉/距离传感器进行精确定位和导航在过去十年中得到了广泛的研究。然而,有几个挑战阻碍了当前系统的安全采用和商业利用。一个主要的缺点是缺乏鲁棒性,由于当前的传感器融合方法的能力有限,以处理大量的异构传感器流与不同的高度非线性噪声特性在动态变化的环境中。另一个主要的缺点是昂贵的计算。基于视觉/测距的综合定位系统必须以极高的速率处理大量的数据扫描,以确保对无人机平台的稳定控制。
小型无人机面临更多挑战。它们真正的3D机动和悬停给估计方法和实时性能带来了一些挑战。此外,转子表现出的高振动和电磁干扰会导致难以建模的即时传感器误差。加速度计和陀螺仪在高振动下都会受到大噪声的影响,而磁力计在电磁干扰源附近无法正常工作。
基于申请人以前在多传感器定位系统方面的工作,该研究计划将专注于提高小型无人机平台在复杂障碍GNSS挑战/拒绝环境中的定位和导航能力。该研究将探索人工智能方法和模糊理论与传统信号处理和估计技术的集成,以开发适用于无人机动力学的新运动模型和新型非线性自适应传感器融合方法,可以处理异构低成本噪声传感器。板载实时处理将使用图形处理单元(GPU)处理器进行优化。研究成果可以很容易地应用于其他新兴技术,如自动驾驶汽车,自主机器人和增强现实。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
数据更新时间:{{ journalArticles.updateTime }}
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Atia, Mohamed其他文献
Cinacalcet Hydrochloride Therapy for Secondary Hyperparathyroidism in Hemodialysis Patients
- DOI:
10.1111/j.1744-9987.2011.00994.x - 发表时间:
2011-12-01 - 期刊:
- 影响因子:1.9
- 作者:
El-Shafey, Eid M.;Alsahow, Ali E.;Atia, Mohamed - 通讯作者:
Atia, Mohamed
Remarkable regioselectivities in the course of the synthesis of two new Luotonin A derivatives
- DOI:
10.1016/j.tet.2017.04.052 - 发表时间:
2017-06-08 - 期刊:
- 影响因子:2.1
- 作者:
Atia, Mohamed;Bogdan, Dora;Matyus, Peter - 通讯作者:
Matyus, Peter
Atia, Mohamed的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Atia, Mohamed', 18)}}的其他基金
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 - 财政年份:2022
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2021
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2019
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2018
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2017
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
相似国自然基金
SERS探针诱导TAM重编程调控头颈鳞癌TIME的研究
- 批准号:82360504
- 批准年份:2023
- 资助金额:32 万元
- 项目类别:地区科学基金项目
华蟾素调节PCSK9介导的胆固醇代谢重塑TIME增效aPD-L1治疗肝癌的作用机制研究
- 批准号:82305023
- 批准年份:2023
- 资助金额:30 万元
- 项目类别:青年科学基金项目
基于MRI的机器学习模型预测直肠癌TIME中胶原蛋白水平及其对免疫T细胞调控作用的研究
- 批准号:
- 批准年份:2022
- 资助金额:52 万元
- 项目类别:面上项目
结直肠癌TIME多模态分子影像分析结合深度学习实现疗效评估和预后预测
- 批准号:62171167
- 批准年份:2021
- 资助金额:57 万元
- 项目类别:面上项目
Time-lapse培养对人类胚胎植入前印记基因DNA甲基化的影响研究
- 批准号:
- 批准年份:2021
- 资助金额:0.0 万元
- 项目类别:省市级项目
萱草花开放时间(Flower Opening Time)的生物钟调控机制研究
- 批准号:31971706
- 批准年份:2019
- 资助金额:59.0 万元
- 项目类别:面上项目
Time-of-Flight深度相机多径干扰问题的研究
- 批准号:61901435
- 批准年份:2019
- 资助金额:25.0 万元
- 项目类别:青年科学基金项目
高频数据波动率统计推断、预测与应用
- 批准号:71971118
- 批准年份:2019
- 资助金额:50.0 万元
- 项目类别:面上项目
基于线性及非线性模型的高维金融时间序列建模:理论及应用
- 批准号:71771224
- 批准年份:2017
- 资助金额:49.0 万元
- 项目类别:面上项目
Finite-time Lyapunov 函数和耦合系统的稳定性分析
- 批准号:11701533
- 批准年份:2017
- 资助金额:22.0 万元
- 项目类别:青年科学基金项目
相似海外基金
VIS4ION-Thailand (Visually Impaired Smart Service System for Spatial Intelligence and Onboard Navigation) - Resub - 1
VIS4ION-泰国(视障空间智能和车载导航智能服务系统)- Resub - 1
- 批准号:
10903051 - 财政年份:2023
- 资助金额:
$ 2.11万 - 项目类别:
PathCAM: connecting the digital data pipeline in diagnostic pathology with onboard-camera variable resolution slide imaging
PathCAM:将诊断病理学中的数字数据管道与机载相机可变分辨率幻灯片成像连接起来
- 批准号:
10539532 - 财政年份:2022
- 资助金额:
$ 2.11万 - 项目类别:
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 - 财政年份:2022
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
PathCAM: connecting the digital data pipeline in diagnostic pathology with onboard-camera variable resolution slide imaging
PathCAM:将诊断病理学中的数字数据管道与机载相机可变分辨率幻灯片成像连接起来
- 批准号:
10710397 - 财政年份:2022
- 资助金额:
$ 2.11万 - 项目类别:
VIS4ION-Thailand (Visually Impaired Smart Service System for Spatial Intelligence and Onboard Navigation) - Resub - 1
VIS4ION-泰国(视障空间智能和车载导航智能服务系统)- Resub - 1
- 批准号:
10269485 - 财政年份:2021
- 资助金额:
$ 2.11万 - 项目类别:
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 - 财政年份:2021
- 资助金额:
$ 2.11万 - 项目类别:
Discovery Grants Program - Individual
ONBOARD: OvercomiNg Barriers & Obstacles to Adopting Diabetes Devices
船上:克服障碍
- 批准号:
10082449 - 财政年份:2019
- 资助金额:
$ 2.11万 - 项目类别:
ONBOARD: OvercomiNg Barriers & Obstacles to Adopting Diabetes Devices
船上:克服障碍
- 批准号:
10468547 - 财政年份:2019
- 资助金额:
$ 2.11万 - 项目类别:
ONBOARD: OvercomiNg Barriers & Obstacles to Adopting Diabetes Devices
船上:克服障碍
- 批准号:
10889439 - 财政年份:2019
- 资助金额:
$ 2.11万 - 项目类别:
ONBOARD: OvercomiNg Barriers & Obstacles to Adopting Diabetes Devices
船上:克服障碍
- 批准号:
10319524 - 财政年份:2019
- 资助金额:
$ 2.11万 - 项目类别: