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Using combined IMU/Stereo Vision/cooperative GNSS System for Positioning of UxV Swarms within Catastrophic Urban Scenarios

Batzdorfer, Simon and Bestmann, Ulf and Becker, Martin and Schwithal, Alexander and Schattenberg, Jan and Lang, Thorsten and Andert, Franz and Dittrich, Jörg (2013) Using combined IMU/Stereo Vision/cooperative GNSS System for Positioning of UxV Swarms within Catastrophic Urban Scenarios. ION Pacific Conf. on Positioning, Navigation, and Timing (PNT), 22.-25. Apr. 2013, Honolulu, Hawaii, USA.

Full text not available from this repository.

Official URL: http://www.ion.org/meetings/

Abstract

The usage of unmanned air (UAV) and ground (UGV) vehicles for different applications has increased in recent times. Due to time efficient operation, swarms of unmanned air and/or ground vehicles (UxV) could be used to cope with large areas or in catastrophic urban scenarios. Satisfying the demand for reliable information is one of the current challenges for unmanned vehicles. The absolute and relative position of the vehicles is indispensable for acting within a swarm. Especially in urban scenarios the reliability of position information using GNSS can be degraded by environmental conditions. To achieve this purpose this paper presents a combined system of inertial measurement unit (IMU), stereo vision and cooperative GNSS system. The fusion of the data measured by these subsystems has been realized by using an Extended Kalman Filter (EKF). Additionally an algorithm for failure detection and exclusion (FDE) has been implemented to increase the combined system's performance, concerning integrity aspects and also the position accuracy by the exclusion of degraded GNSS signals for positioning. The performance of the overall system is evaluated based on real world experiments.

Item URL in elib:https://elib.dlr.de/82552/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Using combined IMU/Stereo Vision/cooperative GNSS System for Positioning of UxV Swarms within Catastrophic Urban Scenarios
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Batzdorfer, SimonTU BS, IFFUNSPECIFIED
Bestmann, UlfTU BS, IFFUNSPECIFIED
Becker, MartinTU BS, IFFUNSPECIFIED
Schwithal, AlexanderTU BS, IFFUNSPECIFIED
Schattenberg, JanTU BS, IMNUNSPECIFIED
Lang, ThorstenTU BS, IMNUNSPECIFIED
Andert, FranzFT-ULFUNSPECIFIED
Dittrich, JörgFT-ULFUNSPECIFIED
Date:22 April 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Unmanned Air Vehicle, Unmanned Ground Vehicle, Vehicle Swarms, GNSS Positioning, Cooperative Data Fusion, Stereo Vision Navigation
Event Title:ION Pacific Conf. on Positioning, Navigation, and Timing (PNT)
Event Location:Honolulu, Hawaii, USA
Event Type:international Conference
Event Dates:22.-25. Apr. 2013
Organizer:The Institute of Navigation (ION)
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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