A UAV Positioning Strategy Based on Optical Flow Sensor and Inertial Navigation

被引：0

作者：

Qi, Juntong ^{[1
]}

Yu, Naixin ^{[1
]}

Lu, Xiang ^{[2
]}

机构：

[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin, Peoples R China

[2] EFY Intelligent Control Co Ltd, Tianjin, Peoples R China

来源：

PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2017年

基金：

中国国家自然科学基金;

关键词：

UAV; Optical Flow; Inertial Navigation; Kalman Filter;

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 this paper, a thorough research to the small unmanned aerial vehicle localization technology based on the fusion of optical flow and inertial navigation information has been conducted An experiment platform based on Pixhawk and PX4FLOW is built to test the performance of optical flow/inertial localization system Experiment results shows that this system can work at both indoor and outdoor environment. In the indoor environment, the optical flow/inertial positioning system has better accuracy compared with the system using pure optical flow information. In the outdoor environment, the results proves that this system is a potential solution for U/I positioning in GPS-denied environment with an error of 5 meters.

引用

页码：81 / 87

页数：7

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