Data fusion and switching function for MAV navigation system

Author

Faris, Muhammad ; Cahyadi, Adha Imam ; Nugroho, Hanung Adi

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Univ. Gadjah Mada, Yogyakarta, Indonesia

fYear

2014

Firstpage

115

Lastpage

120

Abstract

In this work, data fusion and switching function based approach for MAV (Micro Aerial Vehicle) navigation system is proposed. Our approach applies monocular simultaneous localization and mapping (SLAM) system. Extended Kaiman Filter (EKF) algorithm is then used to fuse SLAM data with velocity and acceleration data, yielding metric-scaled position data. Moreover, GPS sensor is employed to retrieve the MAV position in global world frame coordinate. In addition, the switching function is added to deal with particular conditions. Some benefits from our approach are improvement of data accuracy when the MAV is moving indoor with global coordinate system as well as overcoming the problem of losing visual tracking.

Keywords

Global Positioning System; Kalman filters; SLAM (robots); aircraft navigation; autonomous aerial vehicles; inertial navigation; nonlinear filters; sensor fusion; EKF algorithm; GPS sensor; MAV navigation system; acceleration data; data accuracy; data fusion; extended Kaiman filter algorithm; global world frame coordinate; metric-scaled position data; micro aerial vehicle navigation system; monocular SLAM system; monocular simultaneous localization and mapping system; switching function based approach; velocity data; visual tracking; Global Positioning System; Mathematical model; Optical switches; Simultaneous localization and mapping; GPS; Inertial Sensor; Multi-Sensor Data Fusion; Vehicle Navigation; Visual SLAM;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering and Computer Science (ICEECS), 2014 International Conference on

Print_ISBN

978-1-4799-8477-0

Type

conf

DOI

10.1109/ICEECS.2014.7045230

Filename

7045230