García Carrillo et al., 2012 - Google Patents
Combining stereo vision and inertial navigation system for a quad-rotor UAVGarcía Carrillo et al., 2012
View PDF- Document ID
- 2083958217730670577
- Author
- García Carrillo L
- Dzul López A
- Lozano R
- Pégard C
- Publication year
- Publication venue
- Journal of intelligent & robotic systems
External Links
Snippet
This paper presents the development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system. Our objective consists of developing a UAV capable of autonomously perform take-off, positioning, navigation and landing in unknown …
- 230000000007 visual effect 0 abstract description 34
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| García Carrillo et al. | Combining stereo vision and inertial navigation system for a quad-rotor UAV | |
| US11866198B2 (en) | Long-duration, fully autonomous operation of rotorcraft unmanned aerial systems including energy replenishment | |
| US12079011B2 (en) | System and method for perceptive navigation of automated vehicles | |
| US10732647B2 (en) | Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV) | |
| Carrillo et al. | Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback | |
| Mebarki et al. | Nonlinear visual control of unmanned aerial vehicles in GPS-denied environments | |
| Crassidis et al. | Survey of nonlinear attitude estimation methods | |
| García Carrillo et al. | Stabilization and trajectory tracking of a quad-rotor using vision | |
| Brockers et al. | Towards autonomous navigation of miniature UAV | |
| Santamaria-Navarro et al. | High-frequency MAV state estimation using low-cost inertial and optical flow measurement units | |
| Hérissé et al. | A terrain-following control approach for a vtol unmanned aerial vehicle using average optical flow | |
| Delaune et al. | Extended navigation capabilities for a future mars science helicopter concept | |
| Li et al. | Autonomous navigation and environment modeling for MAVs in 3-D enclosed industrial environments | |
| Al-Radaideh et al. | Self-localization of a tethered quadcopter using inertial sensors in a GPS-denied environment | |
| Bavle et al. | A flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments | |
| Goppert et al. | Invariant Kalman filter application to optical flow based visual odometry for UAVs | |
| Agarwal et al. | Evaluation of a commercially available autonomous visual inertial odometry solution for indoor navigation | |
| Wang et al. | Monocular vision and IMU based navigation for a small unmanned helicopter | |
| Zahran et al. | Enhanced UAV navigation in GNSS denied environment using repeated dynamics pattern recognition | |
| Mercado et al. | Quadrotor's trajectory tracking control using monocular vision navigation | |
| Johnson | Vision-assisted control of a hovering air vehicle in an indoor setting | |
| Chowdhary et al. | Integrated guidance navigation and control for a fully autonomous indoor uas | |
| Mung et al. | Target State Estimation for UAV's Target Tracking and Precision Landing Control: Algorithm and Verification System | |
| Elashaal et al. | Autonomous search and rescue drone | |
| Kaiser et al. | Position and orientation of an aerial vehicle through chained, vision-based pose reconstruction |