Small UAV Autonomous Localization Based on Multiple Sensors Fusion

摘要：

　　Autonomous localization is a challenge for small UAVs in the environment where GPS signal is unavailable.In this paper,we propose a novel autonomous localization algorithm for small UAVs without map construction.In the proposed method,the information of onboard camera,pressure sensor and orientation sensor are integrated together based on Kalman filter model under the visual odometry framework.The algorithm is realized in Robot Operating System(ROS)and is tested based on Gazebo.Experimental results show the localization accuracy of the proposed algorithm under different flight conditions and flight status.It is verified that the method extends the environmental adaptability of existing visual odometry methods.

关键词： visual odometer autonomous localization map construction

作者: Bingfei Li Huawei Liu Jianye Zhang Xiaolin Zhao Boxin Zhao

作者单位: Key Laboratory of Science and Technology on Avionics Integration Technologies,Shanghai,200233,China; Aeronautics and Astronautics Engineering College,Air Force Engineering University,Xian,710038,China Aeronautics and Astronautics Engineering College,Air Force Engineering University,Xian,710038,China

会议类型: 国际会议

会议名称: 2017 IEEE 2nd Advanced Information Technology,Electronic and Automation Control Conference(IAEAC 2017)(2017 IEEE 第2届先进信息技术、电子与自动化控制国际会议)

会议地点: 重庆

会议语种:英文

页码: 296-303

在线出版日期: 2017-03-25（万方平台首次上网日期，不代表论文的发表时间）