Localization is the most important basic information for unmanned aerial vehicles (UAV) during their missions. Currently, most UAVs use GNSS to calculate their own position. However, when faced with complex electromagnetic interference situations or multipath effects within cities, GNSS signals can be interfered with, resulting in reduced positioning accuracy or even complete unavailability. To avoid this situation, this paper proposes an autonomous UAV localization method for low-altitude urban scenarios based on POI and store signage text matching (LPS) in UAV images. The text information of the store signage is first extracted from the UAV images and then matched with the name of the POI data. Finally, the scene location of the UAV images is determined using multiple POIs jointly. Multiple corner points of the store signage in a single image are used as control points to the UAV position. As verified by real flight data, our method can achieve stable UAV autonomous localization with a positioning error of around 13 m without knowing the exact initial position of the UAV at take-off. The positioning effect is better than that of ORB-SLAM2 in long-distance flight, and the positioning error is not affected by text recognition accuracy and does not accumulate with flight time and distance. Combined with an inertial navigation system, it may be able to maintain high-accuracy positioning for UAVs for a long time and can be used as an alternative to GNSS in ultra-low-altitude urban environments.


    Access

    Download


    Export, share and cite



    Title :

    UAV Localization in Low-Altitude GNSS-Denied Environments Based on POI and Store Signage Text Matching in UAV Images


    Contributors:
    Yu Liu (author) / Jing Bai (author) / Gang Wang (author) / Xiaobo Wu (author) / Fangde Sun (author) / Zhengqiang Guo (author) / Hujun Geng (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    UAV Waypoint Opportunistic Navigation in GNSS-Denied Environments

    Yang, Yanhao / Khalife, Joe / Morales, Joshua J. et al. | IEEE | 2022


    Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments

    Benz, David / Gehrt, Jan-Jöran / Zweigel, René et al. | TIBKAT | 2022


    Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments

    Benz, David / Gehrt, Jan-Jöran / Zweigel, René et al. | DataCite | 2023


    Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments

    David Benz / Jan-Jöran Gehrt / René Zweigel et al. | DOAJ | 2023

    Free access

    Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments

    Dmytruk, Andriy / Nascimento, Tiago / Ahmad, Afzal et al. | IEEE | 2021