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Filter Banks and Integrity Monitoring for Visual UAV Navigation

Andert, Franz and Batzdorfer, Simon and Becker, Martin and Hecker, Peter (2013) Filter Banks and Integrity Monitoring for Visual UAV Navigation. Workshop on Long-Term Autonomy: Navigation and Mapping for Real-World Applications, at International Conference on Robotics and Automation, 06.-10. Mai 2013, Karlsruhe, Deutschland.

Full text not available from this repository.

Abstract

This paper outlines current and future navigation for small unmanned aircraft. An example scenario is the exploration of disaster areas where the aircraft flies at low altitudes and where a-priori hints like maps are outdated or otherwise not reliable. The paper tackles navigation problems where satellite data might be temporarily unavailable. It presents a state estimator which uses satellite, inertial, and visual data. In order to determine and correct errors, a filter bank is proposed to analyze the output of INS/GNSS integration and to exclude GNSS failures from further processing. The paper also presents results from flight tests with a small helicopter where a suitable trajectory can be calculated within incomplete navigation satellite constellations. Finally, the paper discusses some open issues for future work.

Item URL in elib:https://elib.dlr.de/82546/
Document Type:Conference or Workshop Item (Speech)
Title:Filter Banks and Integrity Monitoring for Visual UAV Navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, FranzFT-ULFUNSPECIFIED
Batzdorfer, SimonTU BS, IFFUNSPECIFIED
Becker, MartinTU BS, IFFUNSPECIFIED
Hecker, PeterTU BS, IFFUNSPECIFIED
Date:10 May 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Unmanned Aircraft, Filter Bank, Visual Navigation, GNSS, Vehicle Positioning
Event Title:Workshop on Long-Term Autonomy: Navigation and Mapping for Real-World Applications, at International Conference on Robotics and Automation
Event Location:Karlsruhe, Deutschland
Event Type:international Conference, Workshop
Event Dates:06.-10. Mai 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:31 Jul 2013 09:58
Last Modified:31 Jul 2013 09:58

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