UAVs play an irreplaceable role in urban operations and field combat scenarios. Currently, closed-loop UAV motion control relies on the Global Navigation Satellite System (GNSS). However, GNSS has the disadvantages of being highly susceptible to electromagnetic interference and being unable to be used in closed environments. This makes the mass deployment and application of UAVs a huge potential risk. To cope with this problem, this work proposes a UAV hovering control method based on external visual localization information. The proposed method adopts the form of air-ground coordination to achieve accurate and stable positioning of the UAV. It uses this to carry out the autonomous control of the UAV, to ensure that the UAV can still obtain its positional state in the GNSS-denied environment and be able to complete the corresponding movement tasks based on it. The autonomous control method maps the information of the UAV in a 2D plane image to the motion control in 3D space, which can provide a stable position control scheme under the GNSS denial environment. The effectiveness of the control method is verified by Simulink simulation as well as real-world experiments on the Tello UAV.
UAV Hovering Control Based on External Visual Localization for GNSS-Denied Environments
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024
Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024) ; Kapitel : 42 ; 445-455
09.04.2025
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch