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Small Fixed-Wing Aerial Positioning Using Inter-Vehicle Ranging Combined With Visual Odometry.
| 题名： | Small Fixed-Wing Aerial Positioning Using Inter-Vehicle Ranging Combined With Visual Odometry. |
| 作者： | Fain, B. M. |
| 关键词： | Unmanned aerial vehicles, Global positioning systems, Aircrafts, Models, Kalman filters, Detection, Navigation, Measurement, Ranging, Vo(visual odometry), Suas(small unmanned aerial systems), Gps(global positioning system) |
| 摘要： | There has been increasing interest in developing the ability for small unmanned aerial systems (SUAS) to be able to operate in environments where GPS is not available. This research considers the case of a larger aircraft loitering above a smaller GPS-denied SUAS. This larger aircraft is assumed to have greater resources which can overcome the GPS jamming and provide range information to the SUAS flying a mission below. This research demonstrates that using a ranging update combined with an aircraft motion model and visual odometry can greatly improve the accuracy of a SUASs estimated position in a GPS-denied environment. |
| 报告类型： | 科技报告 |
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