Integrated navigation of aerial robot for GPS and GPS-denied environment

13th International Conference on Motion and Vibration Control; 12th International Conference on Recent Advances in Structural Dynamics

Suzuki, Satoshi^1 ; Min, Hongkyu^2 ; Wada, Tetsuya^3 ; Nonami, Kenzo^2

Shinshu University, 3-15-1 Tokida, Ueda-shi, Nagano, Japan^1

Chiba University, 1-33, Yayoi-cho, Inage-ku, Chiba-shi, Chiba, Japan^2

Autonomous Control Systems Laboratory Ltd., 3-15-1 Tokida, Ueda-shi, Nagano, Japan^3

关键词: Guidance and control;    Integrated navigation;    Integrated navigation systems;    Laser detection and ranging;    Outdoor environment;    Robust navigation;    Sensor-based navigation system;    Velocity information;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/744/1/012219/pdf
DOI  :  10.1088/1742-6596/744/1/012219

来源: IOP

【 摘 要 】

In this study, novel robust navigation system for aerial robot in GPS and GPS- denied environments is proposed. Generally, the aerial robot uses position and velocity information from Global Positioning System (GPS) for guidance and control. However, GPS could not be used in several environments, for example, GPS has huge error near buildings and trees, indoor, and so on. In such GPS-denied environment, Laser Detection and Ranging (LIDER) sensor based navigation system have generally been used. However, LIDER sensor also has an weakness, and it could not be used in the open outdoor environment where GPS could be used. Therefore, it is desired to develop the integrated navigation system which is seamlessly applied to GPS and GPS-denied environments. In this paper, the integrated navigation system for aerial robot using GPS and LIDER is developed. The navigation system is designed based on Extended Kalman Filter, and the effectiveness of the developed system is verified by numerical simulation and experiment.