Title:
Performance of a Monocular Vision-aided Inertial Navigation System for a Small UAV
Performance of a Monocular Vision-aided Inertial Navigation System for a Small UAV
Author(s)
Magree, Daniel
Johnson, Eric N.
Johnson, Eric N.
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Abstract
The use of optical sensors for navigation on aircraft has receive much attention recently.
Optical sensors provide a wealth of information about the environment and are standard
payloads for many unmanned aerial vehicles (UAVs). Simultaneous localization and map-
ping (SLAM) algorithms using optical sensors have become computationally feasible in real
time in the last ten years. However, implementations of visual SLAM navigation systems
on aerial vehicles are still new and consequently are often limited to restrictive environ-
ments or idealized conditions. One example of a
ight condition which can dramatically
a ect navigation performance is altitude. This paper seeks to examine the performance
of monocular extended Kalman lter based SLAM (EKF-SLAM) navigation over a large
altitude change. Simulation data is collected which illustrates the behavior of the naviga-
tion system over the altitude range. Navigation and control system parameters values are
speci ed which improve vehicle performance across the
ight conditions. Additionally, a
detailed presentation of the monocular EKF-SLAM navigation system is given. Flight test results are presented on a quadrotor.
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Date Issued
2013-08
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Text
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Proceedings