This paper presents an algorithm for cooperative UAV navigation that exploits vision-based sensing, standalone GPS, differential GPS among antennas embarked on different flying platforms, and measurements obtained by inertial sensors and magnetometers. Unlike other cooperative navigation approaches, the developed technique is mainly aimed at improving navigation performance in outdoor environments, either in real time or off-line. The logical architecture and the main processing steps are discussed. Then, algorithms for differential GPS/vision processing and sensor fusion for navigation state estimation are introduced. Covariance analysis is used for theoretical performance assessment. The hardware system used for concept demonstration comprises a customized quadrotor and different GPS antennas and receivers, and is briefly described. Finally, first results from experimental tests are presented. In particular, the attitude solution obtained by differential GPS and vision is compared with the estimates provided by the onboard autopilot system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative UAV navigation based on distributed multi-antenna GNSS, vision, and MEMS sensors


    Beteiligte:


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    1004186 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooperative GNSS Positioning & Navigation

    Waters, D.W. / Pande, T. / Balakrishnan, J. et al. | British Library Conference Proceedings | 2011


    DRONE COOPERATIVE NAVIGATION USING GNSS ERROR SHARING

    KIM YOUNG JOO | Europäisches Patentamt | 2024

    Freier Zugriff

    MEMS-BASED DISTRIBUTED NAVIGATION SYSTEM

    Liu, Z. / Chen, P. / Wei, X. | British Library Conference Proceedings | 2021



    Cooperative Inertial Navigation for GNSS-Challenged Vehicular Environments

    Alam, Nima / Kealy, Allison / Dempster, Andrew G. | IEEE | 2013