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Image-aided inertial navigation for an Octocopter
Author(s): S. Baheerathan; O. K. Hagen
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Paper Abstract

A typical unmanned aerial system combines an Inertial Navigation System (INS) and a Global Navigation Satellite System (GNSS) for navigation. When the GNSS signal is unavailable, the INS errors grow over time and eventually become unacceptable as a navigation solution. Here we investigate an image-aided inertial navigation system to cope with GNSS failure. The system is based on tightly integrating inertial sensor data with position data of image-featurepoints that corresponds to landmarks over an image sequence. The aim of this experiment is to study the challenges and the performance of the image-aided inertial navigation system in realistic flight with an Octocopter. The system demonstrated the ability to cope with the GNSS failure by reducing the position drift drastically compared to the position drift of free-inertial.

Paper Details

Date Published: 3 May 2018
PDF: 13 pages
Proc. SPIE 10640, Unmanned Systems Technology XX, 106400J (3 May 2018); doi: 10.1117/12.2301229
Show Author Affiliations
S. Baheerathan, Norwegian Defence Research Establishment (Norway)
O. K. Hagen, Norwegian Defence Research Establishment (Norway)


Published in SPIE Proceedings Vol. 10640:
Unmanned Systems Technology XX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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