文章基本信息

标题：A low-cost solution for unmanned aerial vehicle navigation in a global positioning system–denied environment
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作者：Shahrukh Ashraf ; Priyanka Aggarwal ; Praveen Damacharla 等
期刊名称：International Journal of Distributed Sensor Networks
印刷版ISSN：1550-1329
电子版ISSN：1550-1477
出版年度：2022
卷号：18
期号：6
页码：1-17
DOI：10.1177/1550147718781750
语种：English
出版社：Hindawi Publishing Corporation
摘要：The ability of an autonomous unmanned aerial vehicle to navigate and fly precisely determines its utility and performance. The current navigation systems are highly dependent on the global positioning system and are prone to error because of global positioning system signal outages. However, advancements in onboard processing have enabled inertial navigation algorithms to perform well during short global positioning system outages. In this article, we propose an intelligent optical flow–based algorithm combined with Kalman filters to provide the navigation capability during global positioning system outages and global positioning system–denied environments. Traditional optical flow measurement uses block matching for motion vector calculation that makes the measurement task computationally expensive and slow. We propose the application of an artificial bee colony–based block matching technique for faster optical flow measurements. To effectively fuse optical flow data with inertial sensors output, we employ a modified form of extended Kalman filter. The modifications make the filter less noisy by utilizing the redundancy of sensors. We have achieved an accuracy of ~95% for all non-global positioning system navigation during our simulation studies. Our real-world experiments are in agreement with the simulation studies when effects of wind are taken into consideration.
关键词：Inertial navigation;optical flow;multi-sensor data fusion;block matching