This paper focuses on cooperative navigation aiding for a small unmanned aerial vehicle (UAV) based on vision systems onboard unmanned ground vehicles (UGV). As the signal quality of global satellite navigation systems (GNSS) often is bad or even lost in urban environments, the navigation solution of a UAV is affected. To ensure a save guidance of the UAV its geo-referenced position has to be known. In case of no GNSS position solution a team of UGVs can overcome this problem by the detection and tracking of the UAV in its onboard images and the subsequent geo-localization. The determination of the UAV's geo-referenced position can be achieved with several algorithms, depending on the number of UGVs. To integrate these position measurements in the UAV's onboard navigation computer the quality of the detection and geo-localization has to be estimated. The particular parts of this setup as well as the whole system are tested with experimental data.
Cooperative UAV-navigation-aiding based on UGV vision systems
Kooperative UAV-Navigationshilfe basierend auf UGV-Visionssystemen
Symposium Gyro Technology, 2010 ; 18/1-18/15
2010
15 Seiten, 6 Bilder, 11 Quellen
Aufsatz (Konferenz)
Englisch
Cooperative UAV-Navigation-Aiding based on UGV Vision Systems
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