Passive GPS-Free navigation for small UAVs

被引：0
|
作者：
Langelaan, Jack [1 ]
Rock, Steve [1 ]
机构：
[1] Stanford Univ, Dept Aeronaut & Astronaut, Stanford, CA 94305 USA
来源：
2005 IEEE AEROSPACE CONFERENCE, VOLS 1-4 | 2005年
关键词：
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
A method for passive GPS-free navigation of a small Unmanned Aerial Vehicle with a minimal sensor suite (limited to an inertial measurement unit and a monocular camera) is presented. The navigation task is cast as a Simultaneous Localization and Mapping (SLAM) problem. While SLAM has been the subject of a great deal of research, the highly non-linear system dynamics and limited sensor suite available in this application presents a unique set of challenges which have not previously been addressed. In this particular application solutions based on Extended Kalman Filters have been shown to diverge and alternate techniques are required.
引用
收藏
页码：3011 / 3019
页数：9
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