An adaptive method is developed to iteratively fuse the information provided by multiple sensors to enable autonomous urban air mobility type operations. First, noisy and bias corrupted IMU readings are processed as soon as they arrive using kinematic equations represented in the vehicle's body frame. To correct the systems drift resulting from the integration, an information content measure is introduced to decide on the environment. For the cluttered environment the information provided by environmental sensors is counted as reliable and the drift correction as accurate. For the open space, the GPS data is counted as reliable, and the drift correction is done based on the GPS readings. The measurement noise effects are minimize using Iterated Extended Kalman Filter framework. The algorithm is implemented in the in-house developed FlightDeckz simulation environment using an IMU model, simulated video recorded from a camera mounted on the vehicle (for the purpose of this study, outside scenery was generated with XPlane), which flies in an urban environment, and GPS data generated from the environment's digital map.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Multi-Sensor Localization Information Fusion for Autonomous Urban Air Mobility Operations


    Beteiligte:
    Vahram Stepanyan (Autor:in) / Thomas Lombaerts (Autor:in) / Kimberlee Shish (Autor:in) / Nicholas Cramer (Autor:in)

    Kongress:

    AIAA SciTech Forum ; 2021 ; Virtual, US


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Adaptive Multi-Sensor Localization Information Fusion For Autonomous Urban Air Mobility Operations

    Vahram Stepanyan / Thomas Lombaerts / Kimberlee Shish et al. | NTRS



    Adaptive Multi-Sensor Information Fusion For Autonomous Urban Air Mobility Operations

    Stepanyan, Vahram / Lombaerts, Thomas / Shish, Kimberlee H. et al. | AIAA | 2021


    ADAPTIVE MULTI-SENSOR INFORMATION FUSION FOR AUTONOMOUS URBAN AIR MOBILITY OPERATIONS

    Stepanyan, Vahram / Lombaerts, Thomas / Shish, Kimberlee H. et al. | TIBKAT | 2021


    Adaptive Multi-Sensor Fusion Based Object Tracking for Autonomous Urban Air Mobility Operations

    Lombaerts, Thomas / Shish, Kimberlee H. / Keller, Gordon et al. | TIBKAT | 2022