Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments

Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske, and Sanjiv Singh
In Proceedings of American Control Conference, Portland, OR, July, 2014.


Download
  • Adobe portable document format (pdf) (2MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
State estimation for Micro Air Vehicles (MAVs) is challenging because sensing instrumentation carried on-board is severely limited by weight and power constraints. In addition, their use close to and inside structures and vegetation means that GPS signals can be degraded or all together absent. Here we present a navigation system suited for use on MAVs that seamlessly fuses any combination of GPS, visual odometry, inertial measurements, and/or barometric pressure. We focus on robustness against real-world conditions and evaluate per- formance in challenging field experiments. Results demonstrate that the proposed approach is effective at providing a consistent state estimate even during multiple sensor failures and can be used for mapping, planning, and control.

Notes

Text Reference
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske, and Sanjiv Singh, "Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments," In Proceedings of American Control Conference, Portland, OR, July, 2014.

BibTeX Reference
@inproceedings{Chambers_2014_7589,
   author = "Andrew D Chambers and Sebastian Scherer and Luke Yoder and Sezal Jain and Stephen T. Nuske and Sanjiv Singh",
   title = "Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments",
   booktitle = "In Proceedings of American Control Conference, Portland, OR",
   month = "July",
   year = "2014",
}