The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and precisely in urban environments. The most common means of determining the location of a UAV is to utilize position measurements from Global Navigation Satellite Systems (GNSS). In urban environments, however, GNSS measurements are significantly degraded due to occlusions and multipath. This research analyzes the use of camera Line-of-Sight (LOS) measurements to self-describing fiducials as a replacement for conventional GNSS measurements. An extended Kalman filter (EKF) is developed and validated for the purpose of combining continuous measurements from an Inertial Measurement Unit (IMU) with the discrete LOS measurements to accurately estimate the states of a UAV. The sensitivity of the estimation error covariance to various system parameters is assessed, including IMU grade, fiducial placement, vehicle altitude, and image processing frequency.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Sensitivity study of fiducial-aided navigation of Unmanned Aerial Vehicles


    Beteiligte:


    Erscheinungsdatum :

    2022-09-01


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fiducial-based navigation of unmanned vehicles

    DUNN STEVEN GREGORY / KELSO CARL RYAN / WOODWARD III NEIL WHITNEY | Europäisches Patentamt | 2022

    Freier Zugriff

    Fiducial-based navigation of unmanned vehicles

    DUNN STEVEN GREGORY / KELSO CARL RYAN / WOODWARD III NEIL WHITNEY | Europäisches Patentamt | 2019

    Freier Zugriff

    Fiducial-based navigation of unmanned vehicles

    DUNN STEVEN GREGORY / KELSO CARL RYAN / WOODWARD III NEIL WHITNEY | Europäisches Patentamt | 2018

    Freier Zugriff

    Sensitivity of Unmanned Aerial Vehicle Model-Aided Navigation

    D'Urso, Stéphane / Gross, Jason N. | AIAA | 2017


    Phased array radio system aided inertial navigation for unmanned aerial vehicles

    Albrektsen, Sigurd M. / Bryne, Torleiv H. / Johansen, Tor A. | IEEE | 2018