Autonomous Drone Indoor Navigation Based on Virtual 3D Map Reference

Abstract

Indoor drone has limitation on weight and size. This condition affects the kind of navigational sensor and computation power that can be carried by the drone. An experiment was conducted to measure the effectiveness of dead reckoning navigation method on drone. Position calculation was conducted based on IMU data. A virtual 3D map was used as a reference point for determining the real position of the drone. The experiment was conducted in 4 different flight paths. The result shown that the navigation method can be used to navigate drone in indoor environments with MSE of 0.19-0.25 m for obstacle of 2x2 m area.