全球导航卫星系统应用
计算机科学
卫星系统
空中航行
惯性导航系统
实时计算
惯性测量装置
导航系统
全球定位系统
人工智能
惯性参考系
电信
物理
量子力学
作者
Angelos Antonopoulos,Michail G. Lagoudakis,Panagiotis Partsinevelos
出处
期刊:Drones
[MDPI AG]
日期:2022-05-24
卷期号:6 (6): 135-135
被引量:10
标识
DOI:10.3390/drones6060135
摘要
Uncrewed aerial vehicles (UAVs) are continuously gaining popularity in a wide spectrum of applications, while their positioning and navigation most often relies on Global Navigation Satellite Systems (GNSS). However, numerous conditions and practices require UAV operation in GNSS-denied environments, including confined spaces, urban canyons, vegetated areas and indoor places. For the purposes of this study, an integrated UAV navigation system was designed and implemented which utilizes GNSS, visual, depth and inertial data to provide real-time localization. The implementation is built as a package for the Robotic Operation System (ROS) environment to allow ease of integration in various systems. The system can be autonomously adjusted to the flight environment, providing spatial awareness to the aircraft. This system expands the functionality of UAVs, as it enables navigation even in GNSS-denied environments. This integrated positional system provides the means to support fully autonomous navigation under mixed environments, or malfunctioning conditions. Experiments show the capability of the system to provide adequate results in open, confined and mixed spaces.
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