Obtaining World Coordinate Information of UAV in GNSS Denied Environments

被引:20
作者
Chen, Chengbin [1 ]
Tian, YaoYuan [1 ]
Lin, Liang [1 ]
Chen, SiFan [1 ]
Li, HanWen [1 ]
Wang, YuXin [2 ]
Su, KaiXiong [1 ]
机构
[1] Fuzhou Univ, Coll Phys & Informat Engn, Fuzhou 350108, Peoples R China
[2] Fuzhou Univ, Sch Econ & Management, Fuzhou 350108, Peoples R China
关键词
unmanned aerial vehicle (UAV); pan-tilt-based visual servoing (PBVS); track; navigation coordinate information; cloud computing; UNMANNED AERIAL VEHICLES; TARGET TRACKING; COMPUTER VISION; KALMAN FILTER; NAVIGATION; SYSTEM; DESIGN;
D O I
10.3390/s20082241
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
GNSS information is vulnerable to external interference and causes failure when unmanned aerial vehicles (UAVs) are in a fully autonomous flight in complex environments such as high-rise parks and dense forests. This paper presents a pan-tilt-based visual servoing (PBVS) method for obtaining world coordinate information. The system is equipped with an inertial measurement unit (IMU), an air pressure sensor, a magnetometer, and a pan-tilt-zoom (PTZ) camera. In this paper, we explain the physical model and the application method of the PBVS system, which can be briefly summarized as follows. We track the operation target with a UAV carrying a camera and output the information about the UAV's position and the angle between the PTZ and the anchor point. In this way, we can obtain the current absolute position information of the UAV with its absolute altitude collected by the height sensing unit and absolute geographic coordinate information and altitude information of the tracked target. We set up an actual UAV experimental environment. To meet the calculation requirements, some sensor data will be sent to the cloud through the network. Through the field tests, it can be concluded that the systematic deviation of the overall solution is less than the error of GNSS sensor equipment, and it can provide navigation coordinate information for the UAV in complex environments. Compared with traditional visual navigation systems, our scheme has the advantage of obtaining absolute, continuous, accurate, and efficient navigation information at a short distance (within 15 m from the target). This system can be used in scenarios that require autonomous cruise, such as self-powered inspections of UAVs, patrols in parks, etc.
引用
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页数:24
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