DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation

Andert, Franz and Ammann, Nikolaus Alexander and Krause, Stefan and Lorenz, Sven and Bratanov, Dmitry and Mejias Alvarez, Luis (2017) Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation. Journal of Intelligent & Robotic Systems, 88 (2-4), pp. 547-565. Springer. doi: 10.1007/s10846-016-0457-6. ISSN 0921-0296.

Full text not available from this repository.

Official URL: http://link.springer.com/journal/10846


This paper presents an optical-aided navigation method for automatic flights where satellite navigation might be disturbed. The proposed solution follows common approaches where satellite position updates are replaced with measurements from environment sensors such as a camera, lidar or radar as required. The alternative positioning is determined by a localization and mapping (SLAM) algorithm that handles 2D feature inputs from monocular camera images as well as 3D inputs from camera images that are augmented by range measurements. The method requires neither known landmarks nor a globally flat terrain. Beside the visual SLAM algorithm, the paper describes how to generate 3D feature inputs from lidar and radar sources and how to benefit from both monocular triangulation and 3D features. Regarding state estimation, the approach decouples visual SLAM from the filter updates. This allows software and hardware separation, i.e. visual SLAM computations on powerful hardware while the main filter can be installed on real-time hardware with possible lower capabilities. The localization quality in case of satellite dropouts is tested with data sets from manned and unmanned flights with different sensors while keeping all parameters constant. The tests show the applicability of this method in flat and hilly terrain and with different path lengths from few hundred meters to many kilometers. The relative navigation achieves an accumulation error of 1-6% of distance traveled depending on the flight scenario. In addition to the flights, the paper discusses flight profile limitations when optical navigation methods are used.

Item URL in elib:https://elib.dlr.de/112469/
Document Type:Article
Title:Optical-Aided Aircraft Navigation using Decoupled Visual SLAM with Range Sensor Augmentation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Andert, FranzUNSPECIFIEDhttps://orcid.org/0000-0002-1638-7735UNSPECIFIED
Ammann, Nikolaus AlexanderUNSPECIFIEDhttps://orcid.org/0000-0001-6091-4478UNSPECIFIED
Krause, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-6969-0036UNSPECIFIED
Lorenz, SvenUNSPECIFIEDhttps://orcid.org/0000-0002-2133-227XUNSPECIFIED
Date:14 January 2017
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 547-565
EditorsEmailEditor's ORCID iDORCID Put Code
Keywords:Unmanned Aircraft; Optical-Aided Navigation; Simultaneous Localization and Mapping; Sensor Fusion
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:25 Oct 2017 08:53
Last Modified:02 Nov 2023 15:06

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.