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.


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    Title :

    Indoor visual navigation system based on paired-landmark for small UAVs


    Contributors:
    Wang, Tianmiao (author) / Zhang, Yicheng (author) / Wang, Chaolei (author) / Liang, Jianhong (author) / Gao, Han (author) / Liu, Miao (author) / Guan, Qinpu (author) / Sun, Anqi (author)


    Publication date :

    2014-12-01


    Size :

    1447331 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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