Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B6, 193-199, 2016
http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLI-B6/193/2016/
doi:10.5194/isprs-archives-XLI-B6-193-2016
 
17 Jun 2016
POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION
G. Abdi1, F. Samadzadegan1, and F. Kurz2 1School of Surveying and Geospatial Engineering, College of Engineering, University of Tehran, Tehran, Iran
2Photogrammetry and Image Analysis, Remote Sensing Technology Institute, German Aerospace Center (DLR), 82234 Weßling, Oberpfaffenhofen, Germany
Keywords: Estimation, GNSS/INS, Multi-Sensor Fusion, Navigation, UAV Abstract. 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.
Conference paper (PDF, 1248 KB)


Citation: Abdi, G., Samadzadegan, F., and Kurz, F.: POSE ESTIMATION OF UNMANNED AERIAL VEHICLES BASED ON A VISION-AIDED MULTI-SENSOR FUSION, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLI-B6, 193-199, doi:10.5194/isprs-archives-XLI-B6-193-2016, 2016.

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