Self-Positioning for UAV Indoor Navigation Based on 3D Laser Scanner, UWB and INS

被引：0
|
作者：
Li, Kang [1 ,2 ,3 ]
Wang, Can [1 ,2 ]
Huang, Sheng [1 ,2 ]
Liang, Guoyuan [1 ,2 ]
Wu, Xinyu [1 ,2 ,4 ]
Liao, Yubin [1 ,2 ]
机构：
[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, Key Lab Human Machine Intelligence Synerg Syst, Shenzhen, Peoples R China
[2] Chinese Acad Sci, Shenzhen Inst Adv Technol, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen, Peoples R China
[3] Huazhong Univ Sci & Technol, Sch Opt & Elect Informat, Wuhan, Peoples R China
[4] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2016年
关键词：
UAV; Self-Positioning; Indoor Navigation; Data Fusion;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In some GPS-denied indoor environment, micro Unmanned Aerial Vehicle (UAV) is a good choice to execute special tasks. However, self-positioning of UAV becomes difficult without the help of GPS. In this paper, we develop the self-positioning method for UAV indoor navigation, which integrates the information of 3D laser scanner, ultra-wideband (UWB) and Inertial navigation system (INS). The positioning model of INS, UWB and 3D laser scanner is analyzed. And then data fusion strategy based on Kalman filtering is introduced to improve the overall localization precision. The method is verified by simulation and the results show that the strategy improves positioning accuracy significantly compared to INS-only and UWB-only approaches.
引用
收藏
页码：498 / 503
页数：6
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