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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

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

Abstract

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
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
Krause, Stefanstefan.krause (at) dlr.deUNSPECIFIED
Lorenz, SvenSven.Lorenz (at) dlr.dehttps://orcid.org/0000-0002-2133-227X
Bratanov, Dmitrydmitry.bratanov (at) qut.edu.auUNSPECIFIED
Mejias Alvarez, Luisluis.mejias (at) qut.edu.auUNSPECIFIED
Date:14 January 2017
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:88
DOI :10.1007/s10846-016-0457-6
Page Range:pp. 547-565
Editors:
EditorsEmail
Valavanis, Kimon P.Kimon.valavanis@du.edu
Publisher:Springer
ISSN:0921-0296
Status:Published
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
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:06 Sep 2019 15:20

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