Systems and methods for visual inspection of a container such as an oil tank via a lighter-than-air aircraft are presented. According to one aspect, the aircraft includes a gondola attached to a balloon filled with lighter-than-air gas. Rigidly attached to the gondola is a suite of sensors, including a camera sensor, an inertial measurement unit and a range sensor. Navigation of the aircraft is based on information sensed by the suite of sensors and processed by control electronics arranged in the gondola. Embedded in the control electronics is an extended Kalman filter that calculates pose estimates of the aircraft based on the information sensed by the inertial measurement unit and updated by the camera sensor. The extended Kalman filter uses the information sensed by the range sensor to reduce uncertainty in the calculated pose estimate. Images captured by the camera sensor can be used to evaluate state of the container.


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    Titel :

    AIRCRAFT-BASED VISUAL-INERTIAL ODOMETRY WITH RANGE MEASUREMENT FOR DRIFT REDUCTION


    Beteiligte:

    Erscheinungsdatum :

    10.03.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64B LIGHTER-THAN-AIR AIRCRAFT , Luftfahrzeuge leichter als Luft / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES



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