A navigation and mapping method for UAS during under-the-canopy forest operations
| Autor: | Zhen Zhu, Russell Gilabert, Akshay S. Bharadwaj, Adam Schultz, Maarten Uijt de Haag |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
020301 aerospace & aeronautics
0209 industrial biotechnology Data collection business.industry Computer science 02 engineering and technology Simultaneous localization and mapping Flight test 020901 industrial engineering & automation 0203 mechanical engineering Inertial measurement unit GNSS applications Global Positioning System Trajectory Systems engineering business Remote sensing |
| Zdroj: | PLANS |
| DOI: | 10.1109/plans.2016.7479768 |
| Popis: | This paper discusses the preliminary design and implementation of a simultaneous navigation, and mapping method for operation of multi-copter unmanned aircraft systems (UAS) in forest environments under the canopy. A data collection platform has been developed using a 3DR hexacopter platform equipped with laser scanners, cameras, GNSS and inertial sensors to observe the environment and used as an input to the SNAM methods. Details on this flight prototype are addressed. Furthermore, the paper will include preliminary flight test results of our hexacopter UAS operating in a forest environment. In addition to these discussions, the paper will address some application-specific issues, specifically with respect to biological, civil engineering and archeological applications. |
| Databáze: | OpenAIRE |
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