Passive GPS-free navigation for small UAVs

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

A method for passive GPS-free navigation of a small Unmanned Aerial Vehicle with a minimal sensor suite (limited to an inertial measurement unit and a monocular camera) is presented. The navigation task is cast as a Simultaneous Localization and Mapping (SLAM) problem. While SLAM has been the subject of a great deal of research, the highly non-linear system dynamics and limited sensor suite available in this application presents a unique set of challenges which have not previously been addressed. In this particular application solutions based on Extended Kalman Filters have been shown to diverge and alternate techniques are required. In this paper an Unscented Kalman Filter is applied to the navigation problem, which leads to a consistent estimate of vehicle and feature states. This paper presents: (a) simulation results showing mapping and navigation in three dimensions; (b) preliminary hardware test results showing navigation and mapping using an off-the-shelf inertial measurement unit and camera in a laboratory environment.

Original languageEnglish (US)
Title of host publicationProceedings - 2005 IEEE Aerospace Conference
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE Aerospace Conference - Big Sky, MT, United States
Duration: Mar 5 2005Mar 12 2005

Publication series

NameIEEE Aerospace Conference Proceedings
Volume2005
ISSN (Print)1095-323X

Other

Other2005 IEEE Aerospace Conference
CountryUnited States
CityBig Sky, MT
Period3/5/053/12/05

Fingerprint

Unmanned aerial vehicles (UAV)
navigation
Global positioning system
Navigation
GPS
Units of measurement
Kalman filters
Kalman filter
Cameras
cameras
sensor
pilotless aircraft
sensors
Sensors
Extended Kalman filters
nonlinear systems
shelves
hardware
Nonlinear systems
casts

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Langelaan, J. W., & Rock, S. (2005). Passive GPS-free navigation for small UAVs. In Proceedings - 2005 IEEE Aerospace Conference [1559602] (IEEE Aerospace Conference Proceedings; Vol. 2005). https://doi.org/10.1109/AERO.2005.1559602
Langelaan, Jacob Willem ; Rock, Steve. / Passive GPS-free navigation for small UAVs. Proceedings - 2005 IEEE Aerospace Conference. 2005. (IEEE Aerospace Conference Proceedings).
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Langelaan, JW & Rock, S 2005, Passive GPS-free navigation for small UAVs. in Proceedings - 2005 IEEE Aerospace Conference., 1559602, IEEE Aerospace Conference Proceedings, vol. 2005, 2005 IEEE Aerospace Conference, Big Sky, MT, United States, 3/5/05. https://doi.org/10.1109/AERO.2005.1559602

Passive GPS-free navigation for small UAVs. / Langelaan, Jacob Willem; Rock, Steve.

Proceedings - 2005 IEEE Aerospace Conference. 2005. 1559602 (IEEE Aerospace Conference Proceedings; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Langelaan JW, Rock S. Passive GPS-free navigation for small UAVs. In Proceedings - 2005 IEEE Aerospace Conference. 2005. 1559602. (IEEE Aerospace Conference Proceedings). https://doi.org/10.1109/AERO.2005.1559602