GNSS/IMU navigation systems offer low-cost and robust solution to navigate UAVs. Since redundant measurements greatly improve the reliability of navigation systems, extensive researches have been made to enhance the efficiency and robustness of GNSS/IMU by additional sensors. This paper presents a method for integrating reference data, images taken from UAVs, barometric height data and GNSS/IMU data to estimate accurate and reliable pose parameters of UAVs. We provide improved pose estimations by integrating multi-sensor observations in an EKF algorithm with IMU motion model. The implemented methodology has demonstrated to be very efficient and reliable for automatic pose estimation. The calculated position and attitude of the UAV especially when we removed the GNSS from the working cycle clearly indicate the ability of the purposed methodology.


    Access

    Download


    Export, share and cite



    Title :

    POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION


    Contributors:
    G. Abdi (author) / F. Samadzadegan (author) / F. Kurz (author)


    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Vision-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles

    Saeedi, S. / Samadzadegan, F. / El-Sheimy, N. et al. | British Library Conference Proceedings | 2009


    Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

    Gupta, Kashish / Emran, Bara Jamal / Najjaran, Homayoun | Emerald Group Publishing | 2019



    Multi-Antenna Vision-and-Inertial-Aided CDGNSS for Micro Aerial Vehicle Pose Estimation

    Yoder, James E. / Iannucci, Peter A. / Narula, Lakshay et al. | BASE | 2020

    Free access