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Articles | Volume XLI-B6
https://doi.org/10.5194/isprs-archives-XLI-B6-193-2016
https://doi.org/10.5194/isprs-archives-XLI-B6-193-2016
17 Jun 2016
 | 17 Jun 2016

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

G. Abdi, F. Samadzadegan, and F. Kurz

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.