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http://dx.doi.org/10.12673/jant.2020.24.1.16

Applicability of Optical Flow Information for UAV Navigation under GNSS-denied Environment  

Kim, Dongmin (Department of Aerospace Engineering, Chungnam National University)
Kim, Taegyun (Department of Aerospace Engineering, Chungnam National University)
Jeaong, Hoijo (Department of Aerospace Engineering, Chungnam National University)
Suk, Jinyoung (Department of Aerospace Engineering, Chungnam National University)
Kim, Seungkeun (Department of Aerospace Engineering, Chungnam National University)
Kim, Younsil (Unmanned Aircraft System Research Division, Korea Aerospace Research Institute)
Han, Sanghyuck (Artificial Intelligence Research Section, Korea Aerospace Research Institute)
Publication Information
Journal of Advanced Navigation Technology / v.24, no.1, 2020 , pp. 16-27 More about this Journal
Abstract
This paper investigates the applicability of optical flow information for unmanned aerial vehicle (UAV) navigation under environments where global navigation satellite system (GNSS) is unavailable. Since the optical flow information is one of important measurements to estimate horizontal velocity and position, accuracy of the optical flow information must be guaranteed. So a navigation algorithm, which can estimate and cancel biases that the optical flow information may have, is suggested to improve the estimation performance. In order to apply and verify the proposed algorithm, an integrated simulation environment is built by designing a guidance, navigation, and control (GNC) system. Numerical simulations are implemented to analyze the navigation performance using this environment.
Keywords
Unmanned aerial vehicle; Extended Kalman filter; Sensor fusion; Optical flow; Bias estimation;
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