基于虚拟三维地图参考的自主无人机室内导航

Jonathan Putra, D. E. Saputra
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引用次数: 0

摘要

室内无人机受重量和尺寸的限制。这种情况影响了无人机可携带的导航传感器的种类和计算能力。通过实验验证了航位推算导航方法在无人机上的有效性。基于IMU数据进行位置计算。虚拟三维地图被用作确定无人机真实位置的参考点。实验在4条不同的飞行路线上进行。结果表明,该导航方法可用于在MSE为0.19 ~ 0.25 m的室内环境中,对2x2 m区域的障碍物进行导航。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Autonomous Drone Indoor Navigation Based on Virtual 3D Map Reference
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.
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