Multi-sensor fusion for robust autonomous filght in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

An outdoor environment and sensor technology, used in unmanned aerial vehicles, aircraft, micro-aircraft, etc., can solve problems such as sensor failure

Inactive Publication Date: 2016-10-12
THE TRUSTEES OF THE UNIV OF PENNSYLVANIA
View PDF5 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, as mentioned above, when the assumptions associated with a sensor do not hold, then relying on any of these sensors also fails

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-sensor fusion for robust autonomous filght in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)
  • Multi-sensor fusion for robust autonomous filght in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)
  • Multi-sensor fusion for robust autonomous filght in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] Rotary-wing Micro Aerial Vehicles (MAVs) are ideal platforms for surveillance and search and rescue in confined indoor and outdoor environments because of their small size, excellent mobility, and hovering capabilities. In such missions, it is important for the MAV to be able to fly autonomously to minimize operator workload. Robust state estimation is critical for autonomous flight, especially because of the inherently fast dynamics of MAVs. Due to cost and payload constraints, most MAVs are equipped with low-cost proprioceptive sensors (eg, MEMS IMUs), which cannot be used for long-term state estimation. Therefore, exteroceptive sensors (such as GPS, video cameras, and laser scanners) are often fused with proprioceptive sensors to improve estimation accuracy. In addition to the well-developed GPS-based navigation techniques [1, 2], there are recent studies on the use of laser scanners [3, 4], monocular cameras [5, 6], stereo cameras [7, 8] and RGB-D sensor [9] from ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m / s with winds around 10 mph while entering and exiting buildings.

Description

[0001] priority statement [0002] This application claims the benefit of US Provisional Application Serial No. 61 / 910,022, filed November 27, 2013, the disclosure of which is incorporated herein by reference in its entirety. [0003] government interest [0004] Under Grant Nos. N00014-07-1-0829, N00014-08-1-0696, N00014-09-1-1031, and N00014-09-1-1051 awarded by the U.S. Office of Naval Research, United States Grant Nos. 1138847, 113830, and 1138110 awarded by the National Science Foundation, Grant Nos. W911NF-08-2-0004 and W911NF-10-2-0016 awarded by the U.S. Air Force Office of Scientific Research, and the U.S. This invention was made with Government support under Grant No. FA9550-10-1-0567 awarded by the Army Research Laboratory. The government has certain rights in this invention. technical field [0005] The subject matter described herein relates to the control of autonomous flight in microaerial vehicles. More specifically, the subject matter described herein rela...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
CPCG01C21/20G05D1/102G01S19/485G01S19/48G01C21/206G01C21/1656G01C21/1654B64U10/13B64U30/20B64U2201/10B64C39/024B64C39/028
Inventor R·V·库马尔S·沈N·迈克尔K·穆赫塔
Owner THE TRUSTEES OF THE UNIV OF PENNSYLVANIA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap