This paper presents a localization system for Unmanned Aerial Vehicles (UAVs), specifically designed for small UAVs to be used in a GPS-denied local area by using estimation algorithms incorporating camera and Light Detection and Ranging (LiDAR) sensor fusion. Localization techniques classically rely on Global Positioning System (GPS) information. However, GPS is subject to jamming. This paper proposes methods of localization without reliance on the GPS. This system utilizes Error-State Extended Kalman Filtering (ESEKF) and methods of camera to LiDAR sensor fusion to correct for error propagations in the aerial vehicle’s estimated location. Initial results from the GPS-denied navigation method showed that the location of the sUAV to an average error of 3.2 m was possible using only texel images and velocity measurements from an experimental flight.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    GPS-denied navigation using location estimation and texel image correction


    Beteiligte:
    Dudzik, Michael C. (Herausgeber:in) / Jameson, Stephen M. (Herausgeber:in) / Axenson, Theresa J. (Herausgeber:in) / Jensen, Nikolas I. (Autor:in) / Budge, Scott E. (Autor:in)

    Kongress:

    Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2023 ; 2023 ; Orlando, Florida, United States


    Erschienen in:

    Proc. SPIE ; 12540


    Erscheinungsdatum :

    2023-06-13





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    GPS-denied navigation using location estimation and texel image correction

    Jensen, Nikolas I. / Budge, Scott E. | British Library Conference Proceedings | 2023


    Global positioning denied navigation

    WISSLER JOHN B / SAUNDERS JEFFERY | Europäisches Patentamt | 2023

    Freier Zugriff

    Global Positioning Denied Navigation

    WISSLER JOHN B / SAUNDERS JEFFERY | Europäisches Patentamt | 2021

    Freier Zugriff

    N. 6 Texel

    Donà dalle Rose, Andrea ;Castiglione Humani, Donatella | SLUB | 2010


    Geen boot naar Texel

    Online Contents | 2006