This paper presents a novel vision-aided inertial navigation system for navigating a small-scale unmanned aerial vehicle (UAV) in unmapped and GPS-denied environments. Suppose the UAV is equipped with a low-cost inertial measurement unit (IMU), a downward-looking camera, a barometer and a compass. By fusing the measurements of the four sensors using an extended Kalman filter, we can obtain drift-free estimates of the velocity and attitude of the UAV. In the meantime, the drift of the UAV position can be significantly reduced and the unknown biases in the IMU measurements can be identified online. The vision measurement in our navigation system is a homography matrix, which can provide the velocity and attitude information of the UAV. We show flight experimental results to verify the effectiveness and robustness of the proposed navigation system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and implementation of homography-based vision-aided inertial navigation of UAVs


    Contributors:
    Zhao, Shiyu (author) / Dong, Xiangxu (author) / Cui, Jinqiang (author) / Ang, Zong Yao (author) / Lin, Feng (author) / Peng, Kemao (author) / Chen, Ben M. (author) / Lee, Tong H. (author)


    Publication date :

    2013-07-01


    Size :

    2248304 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Homography-based Vision-aided Inertial Navigation of UAVs in Unknown Environments

    Zhao, S. / Lin, F. / Peng, K. et al. | British Library Conference Proceedings | 2012


    Homography-based Vision-aided Inertial Navigation of UAVs in Unknown Environments

    Zhao, Shiyu / Lin, Feng / Peng, Kemao et al. | AIAA | 2012


    Map Aided Visual-Inertial Integrated Navigation for Long Range UAVs

    Liu, Ke / He, Xiaofeng / Mao, Jun et al. | Springer Verlag | 2023


    Vision-Aided Inertial Navigation for Flight Control

    Wu, Allen / Johnson, Eric / Proctor, Alison | AIAA | 2005


    Vision-Aided Inertial Navigation for Flight Control

    Allen Wu / Eric Johnson / Alison Proctor | AIAA | 2005