文章基本信息

标题：A VISUAL NAVIGATION SYSTEM FOR UAS BASED ON GEO-REFERENCED IMAGERY
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作者：G. Conte ; P. Doherty
期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2011
卷号：XXXVIII - 1/C22
页码：101-106
DOI：10.5194/isprsarchives-XXXVIII-1-C22-101-2011
出版社：Copernicus Publications
摘要：This article presents an approach to the terrain-aided navigation problem suitable for unmanned aerial vehicles ﬂying at low altitude. The problem of estimating the state parameters of a ﬂying vehicle is addressed in the particular situation where the GPS information is unavailable or unreliable due to jamming situations for instance. The proposed state estimation approach fuses information from inertial and image sensors. Absolute localization is obtained through image-to-map registration. For this purpose, 2D satellite images are used. The algorithms presented are implemented and tested on-board an industrial unmanned helicopter. Flight-test results will be presented.
关键词：UAS; Terrain-aided Navigation; Sensor Fusion; Visual Navigation; Inertial Sensors