Joyraj Bhowmick, Anurag Singh, Harshit Gupta, R. Nallanthighal
{"title":"A Novel Approach to Computationally Lighter GNSS-Denied UAV Navigation Using Monocular Camera","authors":"Joyraj Bhowmick, Anurag Singh, Harshit Gupta, R. Nallanthighal","doi":"10.1109/ICARA51699.2021.9376502","DOIUrl":null,"url":null,"abstract":"A good receptivity of GNSS signals during autonomous navigation is of prime importance. Due to this, navigation becomes close to impossible with places having low receptivity or GNSS-denied zones. In this paper, a navigational system is presented for a multi-rotor UAV in a GNSS-denied environment. The global positioning problem is solved by taking a local reference frame and estimating the UAV's position and velocity w.r.t it, using an onboard monocular camera and barometer. The navigational problem is solved by designing a required velocity function and tuning the system's response to this input by a PID controller. The results of both simulations and actual flight tests show the effectiveness and reliability of the presented work, which enables a UAV to perform full automated missions from takeoff, waypoint navigation and landing, in complete absence of any GNSS signals.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARA51699.2021.9376502","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A good receptivity of GNSS signals during autonomous navigation is of prime importance. Due to this, navigation becomes close to impossible with places having low receptivity or GNSS-denied zones. In this paper, a navigational system is presented for a multi-rotor UAV in a GNSS-denied environment. The global positioning problem is solved by taking a local reference frame and estimating the UAV's position and velocity w.r.t it, using an onboard monocular camera and barometer. The navigational problem is solved by designing a required velocity function and tuning the system's response to this input by a PID controller. The results of both simulations and actual flight tests show the effectiveness and reliability of the presented work, which enables a UAV to perform full automated missions from takeoff, waypoint navigation and landing, in complete absence of any GNSS signals.