摘要 :
Conventionally small area topographic detail plan is produced using land survey techniques. Various method of modern topographical detail plan however required more cost to speed up the data acquisition process for large data and ...
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Conventionally small area topographic detail plan is produced using land survey techniques. Various method of modern topographical detail plan however required more cost to speed up the data acquisition process for large data and high accuracy. The recent development in commercial grade Unmanned Aerial Vehicle (UAV) has the potential to be used as a data capture equipment with low cost. In this study, commercial quadcopter UAV was used as an aerial image data capture vehicle. The images were captured at a lower altitude and then processed by using SfM software. Eight ground control points and a set of 15 and 17 check points was established by using RTK-GPS method. The outputs of this study were Digital Surface Model (DSM) and building footprint vector line. For accuracy assessment, the root means square error (RMSE) was used to evaluate the accuracy of a planimetric and vertical component of DSM. Based on the assessment, the results show the accuracy of sub-meter in planimetric and 5m in vertical. In conclusion, the usage of the low-cost commercial UAV has great potential in topographic data capture for detail plan production.
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摘要 :
Conventionally small area topographic detail plan is produced using land survey techniques. Various method of modern topographical detail plan however required more cost to speed up the data acquisition process for large data and ...
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Conventionally small area topographic detail plan is produced using land survey techniques. Various method of modern topographical detail plan however required more cost to speed up the data acquisition process for large data and high accuracy. The recent development in commercial grade Unmanned Aerial Vehicle (UAV) has the potential to be used as a data capture equipment with low cost. In this study, commercial quadcopter UAV was used as an aerial image data capture vehicle. The images were captured at a lower altitude and then processed by using SfM software. Eight ground control points and a set of 15 and 17 check points was established by using RTK-GPS method. The outputs of this study were Digital Surface Model (DSM) and building footprint vector line. For accuracy assessment, the root means square error (RMSE) was used to evaluate the accuracy of a planimetric and vertical component of DSM. Based on the assessment, the results show the accuracy of sub-meter in planimetric and 5m in vertical. In conclusion, the usage of the low-cost commercial UAV has great potential in topographic data capture for detail plan production.
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摘要 :
This paper presents a study on performance and accuracy that can be achieved using different sensor configurations for real-time flight status determination of mini Unmanned Aerial Vehicles. Since the weight of the navigation syst...
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This paper presents a study on performance and accuracy that can be achieved using different sensor configurations for real-time flight status determination of mini Unmanned Aerial Vehicles. Since the weight of the navigation systems is a considerable percentage of the total aircraft weight for these vehicles, sensor selection, installation and reliability must be adequately investigated to allow for mission requirement satisfaction. In the mainframe of an autonomous navigation project under development, two types of menial units have been acquired to be installed onboard a mini Unmanned Aerial Vehicle. The first one adopts silicon vibrating gyros whereas the second one is more accurate but heavier because it has installed fiber optic gyros. A specific performance function has been developed considering both navigation accuracy and aircraft performance. An error budget analysis has been carried out to evaluate navigation accuracy considering Kalman filtering application for sensor aiding. Subsequently, an originally developed performance function has been adopted to evaluate different configurations for the flight model of the University of Naples.
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摘要 :
This paper presents a study on performance and accuracy that can be achieved using different sensor configurations for real-time flight status determination of mini Unmanned Aerial Vehicles. Since the weight of the navigation syst...
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This paper presents a study on performance and accuracy that can be achieved using different sensor configurations for real-time flight status determination of mini Unmanned Aerial Vehicles. Since the weight of the navigation systems is a considerable percentage of the total aircraft weight for these vehicles, sensor selection, installation and reliability must be adequately investigated to allow for mission requirement satisfaction. In the mainframe of an autonomous navigation project under development, two types of menial units have been acquired to be installed onboard a mini Unmanned Aerial Vehicle. The first one adopts silicon vibrating gyros whereas the second one is more accurate but heavier because it has installed fiber optic gyros. A specific performance function has been developed considering both navigation accuracy and aircraft performance. An error budget analysis has been carried out to evaluate navigation accuracy considering Kalman filtering application for sensor aiding. Subsequently, an originally developed performance function has been adopted to evaluate different configurations for the flight model of the University of Naples.
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摘要 :
Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper des...
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Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper describes an attitude determination system that is based on accelerometer and rate gyro. The algorithm is based on a extended Kalman filter. Using integration of angular rates as state vector and the earth''s gravity as the measured vector, the attitude (roll and pitch) and gyro bias is estimated. At last, a discrete extended Kalman filter (EKF) implement of the same formulation is test on a small unmanned helicopter
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摘要 :
Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper des...
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Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper describes an attitude determination system that is based on accelerometer and rate gyro. The algorithm is based on a extended Kalman filter. Using integration of angular rates as state vector and the earth''s gravity as the measured vector, the attitude (roll and pitch) and gyro bias is estimated. At last, a discrete extended Kalman filter (EKF) implement of the same formulation is test on a small unmanned helicopter
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In order to solve the problem of low attitude estimation accuracy of low-cost UAV without GNSS (Global Navigation Satellite System) signal, the integrated navigation algorithm was improved. Binocular vision sensor is introduced as...
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In order to solve the problem of low attitude estimation accuracy of low-cost UAV without GNSS (Global Navigation Satellite System) signal, the integrated navigation algorithm was improved. Binocular vision sensor is introduced as the observation sensor, and the position and attitude angle of the image information collected by binocular camera were estimated by the SLAM theory, the position and attitude angle were entered into the EKF algorithm, and the Vision Inertial EKF(VI-EKF) algorithm is established. It realizes the high-precision navigation of low-cost UAV without GNSS signal. The biases of gyroscope and accelerometer are calculated by the relative motion increment between the two key frames of binocular camera and IMU pre-integration data,and these two biases were taken as observations to update IMU bias in the process of EKF algorithm. In this paper, the effectiveness of IMU pre-integration algorithm is verified firstly, and then the VI-EKF navigation algorithm is compared with the pure visual SLAM algorithm through dataset simulation. The simulation results show that the VI-EKF algorithm proposed in this paper has a good performance in the environment without GNSS signal.
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摘要 :
With the gradual improvement of the autonomous capabilities of unmanned aerial vehicles (UAVs), the field of tasks has expanded, and it is necessary for UAVs to fully perceive target information from multiple levels and dimensions...
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With the gradual improvement of the autonomous capabilities of unmanned aerial vehicles (UAVs), the field of tasks has expanded, and it is necessary for UAVs to fully perceive target information from multiple levels and dimensions in the process of target detection and identification in the complex environment. Therefore, for UAVs, the main goal of fusion perception technology is to achieve resource interoperability and information complementarity between sensors, such as to increase the detection advantages of different image sensors in frequency, space, and time. In this paper, based on low-cost UAVs, the research is carried out from two aspects: UAVs and fusion perception sensors, and image-based fusion perception technology. The factors that need to be considered in UAVs' sensor configuration are analyzed from four aspects: UAVs' platform attributes, sensor attributes, flight environment, and task types and requirements. Then, we summarize the current image fusion perception technology in the process of UAVs' detection and identification, which provides an effective reference for product development and technology research in related fields. Finally, the challenges faced by the future development of fusion technology are proposed. The overview shows that, sensor configuration scheme and information fusion scheme have the relationship of mutual promotion and restriction in the process of searching for the optimal fusion strategy. It is necessary to develop heterogeneous information fusion algorithm based on sensor characteristics. Moreover, the level of precise sensing elements, efficient information acquisition algorithms, configuration schemes and fusion algorithm implementations are required to improve for the result of 1+1＞2.
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The research project with the working title "Design and development of a low-cost modular Aerial Mobile Mapping System" was formed during the last year as the result from numerous discussions and considerations with colleagues fro...
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The research project with the working title "Design and development of a low-cost modular Aerial Mobile Mapping System" was formed during the last year as the result from numerous discussions and considerations with colleagues from the HafenCity University Hamburg, Department Geomatics. The aim of the project is to design a sensor platform which can be embedded preferentially on an UAV, but also can be integrated on any adaptable vehicle. The system should perform a direct scanning of surfaces with a laser scanner and supported through sensors for determining the position and attitude of the platform. The modular design allows his extension with other sensors such as multispectral cameras, digital cameras or multiple cameras systems.
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摘要 :
The research project with the working title "Design and development of a low-cost modular Aerial Mobile Mapping System" was formed during the last year as the result from numerous discussions and considerations with colleagues fro...
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The research project with the working title "Design and development of a low-cost modular Aerial Mobile Mapping System" was formed during the last year as the result from numerous discussions and considerations with colleagues from the HafenCity University Hamburg, Department Geomatics. The aim of the project is to design a sensor platform which can be embedded preferentially on an UAV, but also can be integrated on any adaptable vehicle. The system should perform a direct scanning of surfaces with a laser scanner and supported through sensors for determining the position and attitude of the platform. The modular design allows his extension with other sensors such as multispectral cameras, digital cameras or multiple cameras systems.
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