Low-Cost Hybrid GNSS/UWB/INS Integration for Seamless Indoor/Outdoor UAV Navigation

被引：3
|
作者：
Cebrian, Alvaro [1 ]
Belles, Andrea [1 ]
Martin, Carla [1 ]
Salas, Aitor [1 ]
Fernandez, Javier [1 ]
Arribas, Javier [1 ]
Vila-Valls, Jordi [2 ]
Navarro, Monica [1 ]
机构：
[1] Ctr Tecnol Telecomunicac Catalunya CTTC CERCA, Barcelona, Spain
[2] Univ Toulouse, ISAE SUPAERO, Toulouse, France
来源：
PROCEEDINGS OF THE 32ND INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS+ 2019) | 2019年
关键词：
D O I：
10.33012/2019.17097
中图分类号：
TP7 [遥感技术];
学科分类号：
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要：
Global Navigation Satellite Systems (GNSS) performance may be seriously degraded under harsh propagation conditions, or totally denied indoors. In such scenarios, to provide precise, accurate and reliable navigation information, GNSS must be combined with other sources of information. In this contribution, we leverage on the use of Ultra-WideBand (UWB) based distance measurements and Inertial Navigation Systems (INS), and provide a hybrid GNSS/UWB/INS sensor fusion strategy for robust seamless indoor/outdoor unmanned aerial vehicle (UAV) navigation. Results are provided for a real UAV scenario.
引用
收藏
页码：2680 / 2691
页数：12
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