The international archives of the photogrammetry, remote sensing and spatial information sciences/International archives of the photogrammetry, remote sensing and spatial information sciences · 2014 · 10 citations · 7 references
EngineeringAerospace EngineeringRobotics EngineeringAerial RoboticsGlobal Navigation Satellite SystemsSensor FusionAutonomous NavigationIndoor LocalizationNavigation SystemsRobot LocalizationRobot NavigationSensor Fusion For LocalizationAerial Inertial NavigationIndoor NavigationLaser ScannersMulti-sensor NavigationNavigationSeamless MobilitySensor Fusion For NavigationUnmanned Aerial Vehicle Navigation
Abstract. This paper discusses the development of navigation algorithms to enable seamless operation of a small-size multi-copter in an indoor-outdoor environment. In urban and indoor environments a GPS position capability may be unavailable not only due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. The proposed navigation algorithm uses data from a GPS receiver, multiple 2D laser scanners, and an Inertial Measurement Unit (IMU). This paper addresses the proposed multi-mode fusion algorithm and provides initial result using flight test data. This paper furthermore describes the 3DR hexacopter platform that has been used to collect data in an operational environment, starting in an open environment, transitioning to an indoor environment, traversing a building, and, finally, transitioning back to the outdoor environment. Implementation issues will be discussed.
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