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    MULTI-SENSOR FUSION FOR ROBUST AUTONOMOUS FLIGHT IN INDOOR AND OUTDOOR ENVIRONMENTS WITH A ROTORCRAFT MICRO-AERIAL VEHICLE (MAV)

    MULTI-SENSOR FUSION FOR ROBUST AUTONOMOUS FLIGHT IN INDOOR AND OUTDOOR ENVIRONMENTS WITH A ROTORCRAFT MICRO-AERIAL VEHICLE (MAV)

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    The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m/s with winds around 10 mph while entering and exiting buildings.

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    Titel :

    MULTI-SENSOR FUSION FOR ROBUST AUTONOMOUS FLIGHT IN INDOOR AND OUTDOOR ENVIRONMENTS WITH A ROTORCRAFT MICRO-AERIAL VEHICLE (MAV)

    Beteiligte:
    KUMAR R VIJAY (Autor:in) / SHEN SHAOJIE (Autor:in) / MICHAEL NATHAN (Autor:in) / MOHTA KARTIK (Autor:in)
    Erscheinungsdatum :

    2017-07-27

    Medientyp :

    Patent

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung

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