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A Flight State Estimator that Couples Stereo-Vision, INS, and GNSS Pseudo-Ranges to Navigate with Three or Less Satellites

Andert, Franz and Dittrich, Jörg and Batzdorfer, Simon and Becker, Martin and Bestmann, Ulf and Hecker, Peter (2013) A Flight State Estimator that Couples Stereo-Vision, INS, and GNSS Pseudo-Ranges to Navigate with Three or Less Satellites. In: Advances in Aerospace Guidance, Navigation and Control, pp. 277-296. Springer. CEAS Euro GNC 2013, 10.-12. Apr. 2013, Delft, The Netherlands. ISBN 978-3-642-38252-9

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Abstract

This paper presents a flight state estimator which couples stereo vision, inertial (INS), and global navigation satellite system (GNSS) data. The navigation filter comes with different operation modes that allow loosely coupled GNSS/INS positioning and, for difficult conditions, improvements using visual odometry and a tighter coupling with GNSS pseudo-range (PSR) data. While camera systems are typically used as an additional relative movement sensor to enable positioning without GNSS for a certain amount of time, the PSR data filtering allows to use satellite navigation also when less than four satellites are available. This makes the filter even more robust against temporary dropouts of the full GNSS solution. The application is the navigation of unmanned aircraft in disaster scenarios which includes flights close to ground in urban or mountainous areas. The filter performance is evaluated with sensor data from unmanned helicopter flight tests where different conditions of the GNSS signal reception are simulated. It is shown that the use of PSR data improves the positioning significantly compared to the dropout when the signals of less than four satellites are available.

Item URL in elib:https://elib.dlr.de/82977/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Flight State Estimator that Couples Stereo-Vision, INS, and GNSS Pseudo-Ranges to Navigate with Three or Less Satellites
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, FranzFT-ULFUNSPECIFIED
Dittrich, JörgFT-ULFUNSPECIFIED
Batzdorfer, SimonTU BS, IFFUNSPECIFIED
Becker, MartinTU BS, IFFUNSPECIFIED
Bestmann, UlfTU BS, IFFUNSPECIFIED
Hecker, PeterTU BS, IFFUNSPECIFIED
Date:10 April 2013
Journal or Publication Title:Advances in Aerospace Guidance, Navigation and Control
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 277-296
Editors:
EditorsEmail
Chu, QipingTU Delft
Mulder, BobTU Delft
Choukroun, DanielTU Delft
van Kampen, Erik-JanTU Delft
de Visser, CoenTU Delft
Looye, GertjanRM
Publisher:Springer
ISBN:978-3-642-38252-9
Status:Published
Keywords:State Estimation, Visual Navigation, Global Navigation Satellite Systems, Unmanned Aircraft
Event Title:CEAS Euro GNC 2013
Event Location:Delft, The Netherlands
Event Type:international Conference
Event Dates:10.-12. Apr. 2013
Organizer:CEAS/AIAA
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:06 Aug 2013 15:22
Last Modified:06 Aug 2013 15:22

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