| Self-Positioning for UAV Indoor Navigation Based on 3D Laser Scanner, UWB and INS | |
| Kang Li; Can Wang; Sheng Huang; Guoyuan Liang; Xinyu Wu | |
| 2016 | |
| 会议名称 | IEEE International Conference on Information and Automation(ICIA) |
| 会议地点 | 中国宁波 |
| 英文摘要 | n some GPS-denied indoor environment, micro Unmanned Aerial Vehicle (UAV) is a good choice to execute special tasks. However, self-positioning of UAV becomes difficult without the help of GPS. In this paper, we develop the self-positioning method for UAV indoor navigation, which integrates the information of 3D laser scanner, ultra-wideband (UWB) and Inertial navigation system (INS). The positioning model of INS, UWB and 3D laser scanner is analyzed. And then data fusion strategy based on Kalman filtering is introduced to improve the overall localization precision. The method is verified by simulation and the results show that the strategy improves positioning accuracy significantly compared to INS-only and UWB-only approaches. |
| 收录类别 | EI |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10141]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Kang Li,Can Wang,Sheng Huang,et al. Self-Positioning for UAV Indoor Navigation Based on 3D Laser Scanner, UWB and INS[C]. 见:IEEE International Conference on Information and Automation(ICIA). 中国宁波. |
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