Keywords

GPS-denied navigation Relative navigation Quadrotor Vision-based autonomy

Abstract

GPS-denied aerial flight is a popular research topic. The problem is challenging and requires knowledge of complex elements from many distinct disciplines. Additionally, aerial vehicles can present challenging constraints such as stringent payload limitations and fast vehicle dynamics. In this paper we propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight. At the core, the approach combines visual graph-SLAM with a multiplicative extended Kalman filter. More importantly, for the front end we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map. This relative navigation approach provides simple application of sensor measurement updates, intuitive definition of map edges and covariances, and the flexibility of using a globally consistent map when desired. We verify the approach with hardware flight-test results.

Original Publication Citation

Leishman, R., McLain, T., Beard, R. Relative navigation approach for vision-based aerial GPS-denied navigation, Proceedings of the 2013 International Conference on Unmanned Aircraft Systems, pp. 343-352, May 2013, Orlando, Florida.

Document Type

Conference Paper

Publication Date

2013-5

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Full Professor

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