Satellite and Vision-Aided Sensor Fusion for Cooperative Navigation of Unmanned Aircraft Swarms
| Autor: | Giancarmine Fasano, Amedeo Rodi Vetrella, Domenico Accardo |
|---|---|
| Přispěvatelé: | Vetrella, AMEDEO RODI, Fasano, Giancarmine, Accardo, Domenico |
| Rok vydání: | 2017 |
| Předmět: |
Microelectromechanical systems
020301 aerospace & aeronautics 0209 industrial biotechnology Inertial frame of reference UAS Swarms Cooperative Navigation Sensor Fusion Global Navigation Satellite Systems Vision aided Tracking Computer science business.industry Aerospace Engineering ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Sensor fusion Computer Science Applications Computer Science::Robotics Extended Kalman filter 020901 industrial engineering & automation 0203 mechanical engineering Hardware_GENERAL Computer Science::Systems and Control Global positioning system receiver ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS Satellite Electrical and Electronic Engineering Aerospace engineering business |
| Zdroj: | Journal of Aerospace Information Systems. 14:327-344 |
| ISSN: | 2327-3097 |
| DOI: | 10.2514/1.i010474 |
| Popis: | This paper presents a cooperative unmanned aerial vehicle navigation algorithm that allows a chief vehicle (equipped with inertial and magnetic sensors, a Global Positioning System receiver, and a vision system) to improve its navigation performance (in real time or in postprocessing phase), exploiting line-of-sight measurements from formation-flying deputies equipped with Global Positioning System receivers. The key concept is to integrate differential Global Positioning System and visual tracking information within a sensor fusion algorithm based on the extended Kalman filter. The developed concept and processing architecture are described, with a focus on the filtering algorithm. Then, flight-testing strategy and experimental results are presented. In particular, cooperative navigation output is compared with the estimates provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit accurate magnetic- and inertial-independent information. |
| Databáze: | OpenAIRE |
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