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Camera-Lidar Navigation for Large Unmanned Aircraft: Modular System Design and Safe Closed-Loop Testing Methodology

Andert, Franz and Ammann, Nikolaus Alexander and Laubner, Martin (2017) Camera-Lidar Navigation for Large Unmanned Aircraft: Modular System Design and Safe Closed-Loop Testing Methodology. CEAS Conference on Guidance, Navigation and Control, 25.-27. Apr. 2017, Warschau, Polen.

Full text not available from this repository.

Official URL: http://eurognc.prz.edu.pl/

Abstract

This paper presents an optical navigation method for unmanned flights where satellite navigation might be disturbed. Core is an inertial-based navigation filter that provides high-frequent flight state updates and where satellite positioning can be replaced with updates from optical sensors in case of satellite signal dropouts. This alternative positioning is determined by a simultaneous localization and mapping (SLAM) algorithm that can generally handle 2D and 3D feature inputs from arbitrary sources. In the presented setup, 2D features are generated from camera images where 3D information from laser range is added if available. Within a simulation environment, visual SLAM is fed with emulated inputs. The architecture provides strong separation, i.e. the sensor pre-processing, visual SLAM, state estimation, and flight control modules are exchangeable and can be run and tested independently. This concept may prevent a very tight coupling of all components, but with regard to future certification, validation and verification will be easier once single components are assured. The navigation method is tested in two ways: first within a flight test of an 85-kg helicopter where only the quality of optical-aided state estimation is tested, and second within a closed-loop simulation where mutual interactions between navigation and flight control are critical in terms of stability. The tests underline the applicability of the presented approach, making this method ready for automatic camera-based flights.

Item URL in elib:https://elib.dlr.de/112097/
Document Type:Conference or Workshop Item (Speech)
Title:Camera-Lidar Navigation for Large Unmanned Aircraft: Modular System Design and Safe Closed-Loop Testing Methodology
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, FranzFranz.Andert (at) dlr.dehttps://orcid.org/0000-0002-1638-7735
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478
Laubner, MartinMartin.Laubner (at) dlr.deUNSPECIFIED
Date:27 April 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Unmanned Aircraft Systems, Navigation, Sensor Fusion, SLAM, Visual Navigation, Testing Procedures
Event Title:CEAS Conference on Guidance, Navigation and Control
Event Location:Warschau, Polen
Event Type:international Conference
Event Dates:25.-27. Apr. 2017
Organizer:CEAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:31 Jul 2017 16:02
Last Modified:31 Jul 2017 16:02

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