摘要: Unmanned aerial vehicles rely predominantly on external signal reception for navigation. This includes both satellite navigation (GNSS) or guidance through remote control channels. In case of a signal loss, a recovery logic is nee... 展开 Unmanned aerial vehicles rely predominantly on external signal reception for navigation. This includes both satellite navigation (GNSS) or guidance through remote control channels. In case of a signal loss, a recovery logic is needed to navigate the vehicle back to its base of until normal operation is regained. Such systems commonly require pre-installed local maps of the flight area or rich-information sensors like LIDARs and cameras. Our work examines a recovery logic for a multirotor based on several body-fixed laser range-finders and an inertial measurement unit without a pre-installed map, hence providing a simple low-cost recovery solution. The recovery logic is tested in a realistic six-degrees-of-freedom simulation using a real terrain map, showing promising initial results. 收起