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1 results

  • Micro Aerial Vehicle Navigation with Visual-Inertial Integration Aided by Structured Light

  • Yunshu Wang, Jianye Liu, Jinling Wang, Qinghua Zeng, Xuesong Shen, Yueyuan Zhang
  • Journal:
    The Journal of Navigation / Volume 73 / Issue 1 / January 2020
    Published online by Cambridge University Press:
    01 July 2019, pp. 16-36
    Print publication:
    January 2020

  • Considering that traditional visual navigation cannot be utilised in low illumination and sparse feature environments, a novel visual-inertial integrated navigation method using a Structured Light Visual (SLV) sensor for Micro Aerial Vehicles (MAVs) is proposed in this paper. First, the measurement model based on an SLV sensor is studied and built. Then, using the state model based on error equations of an Inertial Navigation System (INS), the measurement model based on the error of the relative motion measured by INS and SLV is built. Considering that the measurements in this paper are mainly related to the position and attitude information of the present moment, the state error accumulation in traditional visual-inertial navigation can be avoided. An Adaptive Sage-Husa Kalman Filter (ASHKF) based on multiple weighting factors is proposed and designed to make full use of the SLV measurements. The results of the simulation and the experiment based on real flight data indicate that high accuracy position and attitude estimations can be obtained with the help of the algorithm proposed in this paper.