This paper has presented an implementation of visual based non-GNSS navigation method for small VTOL (Vertically Taking-off and Landing) UAV (Unmanned Aerial Vehicle). A novel method of constructing landmarks is described in detail. It uses a pair of landmarks instead of the general landmark which usually is a single geometry or coding image. The paired-landmark method inherits general landmark methods' advantages of low-cost, high-efficiency and the ability of absolute positioning. And it also solves the problem of requiring too much different characteristic landmarks when handling large area navigation. The paired-landmark method has been verified by a real parameter simulation environment. Real flight experiment is also carried out to test the effectiveness and performance of the paired-landmark navigation method. It can be concluded that, besides achieved the expected positioning precision, the proposed system also reduced the consumption of calculation and memory space.
Indoor visual navigation system based on paired-landmark for small UAVs
2014-12-01
1447331 byte
Conference paper
Electronic Resource
English
2012-2462 A Visual Positioning System for UAVs Using Landmark Fingerprinting
British Library Conference Proceedings | 2012
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