NDLI: POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION

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POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION

Content Provider	Scilit
Author	Abdi, G. Samadzadegan, F. Kurz, F.
Copyright Year	2016
Description	GNSS/IMU navigation systems offer low-cost and robust solution to navigate UAVs. Since redundant measurements greatly improve the reliability of navigation systems, extensive researches have been made to enhance the efficiency and robustness of GNSS/IMU by additional sensors. This paper presents a method for integrating reference data, images taken from UAVs, barometric height data and GNSS/IMU data to estimate accurate and reliable pose parameters of UAVs. We provide improved pose estimations by integrating multi-sensor observations in an EKF algorithm with IMU motion model. The implemented methodology has demonstrated to be very efficient and reliable for automatic pose estimation. The calculated position and attitude of the UAV especially when we removed the GNSS from the working cycle clearly indicate the ability of the purposed methodology.
Ending Page	199
Page Count	7
Starting Page	193
e-ISSN	21949034
DOI	10.5194/isprs-archives-xli-b6-193-2016
Alternate Webpage(s)	https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLI-B6/193/2016/isprs-archives-XLI-B6-193-2016.pdf
Journal	The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Volume Number	XLI-B6
Language	English
Publisher	Copernicus GmbH
Publisher Date	2016-06-17
Access Restriction	Open
Subject Keyword	Cybernetical Science Pose Estimation Gnss/imu Data Navigation Systems
Content Type	Text
Resource Type	Article

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