ناوبري اتوماتيك سكوهاي پرنده مبتني بر الگوريتم موقعيت يابي و نقشه سازي همزمان

Automatic Navigation of Aerial Vehicles Based on Simultaneous Localization and Mapping

در سال هاي اخير با افزايش قابليت و كارايي دوربين هاي رقومي،پردازشگرها و توسعه الگوريتم پردازش تصاوير،روش هاي ناوبري هوايي بينايي مبنا،به منظور غلبه بر محدوديت هاي ساير سامانه هاي ناوبري،مورد توجه بسياري از محققين قرار گرفته است.در اين راستا،به منظور تعيين پارامترهاي ناوبري،عمدتا از تلفيق سيستم ناوبري اينرشيال و مشاهدات عوارض تصويري،مبتني بر الگوريتم هاي موقعيت يابي و نقشه سازي همزمان استفاده مي شود.از آنجاييكه روش هاي موجود در اين زمينه بسيار پيچيده و زمان بر مي باشند،در اين تحقيق روشي نوين در زمينه ناوبري بينايي مبناي سكوهاي پرنده به منظور افزايش قابليت اعتماد،سرعت و دقت تعيين پارامترهاي موقعيت و وضعيت سكو ارايه شده است،به منظور ارزيابي توانايي روش ارايه شده،پارامترهاي توجيه يك سنجنده هوايي در مناطق داراي پيچيدگي هاي مختلف و با شرايط متفاوت تعيين گرديد.نتايج حاصل بيانگر توانايي روش ارايه شده به منظور حل مشكلات مطرح در روند تعيين موقعيت و افزايش دقت و صحت سامانه ناوبري بينايي مبنا است.

During the development of UAVs, one of the major concerns has been the issue of improving the accuracy, coverage, and reliability of automatic navigation systems within the imposed weight and cost limitations. Standard aerial navigation systems often rely on GNSS and INS, alone or in combination. An INS makes use of an IMU to sense the vehicle’s rotation rate and acceleration, which are used to obtain vehicle states; it also provides these at high data rates which are crucial for guidance and control. However, its diverging error nature due to the integration process requires absolute sensors in order to constrain the drift. GPS-aided INS provides long-term stability with high accuracy and it has worldwide coverage in any weather condition. The main drawback is dependency on external satellite signals, which can be easily blocked or jammed by international interference. In this respect, many researches have been made to improve of the efficiency and robustness of GPSaided INS by visual aiding. This paper represents a method for multi-sensor based navigation of aerial vehicles which is to determine precise pose parameters of the vehicle in real time. In this context, a feature based terrain aided navigation system which has the capability for online map building, and simultaneously utilizing the generated map to constrain the errors in the on-board INS is used. The pose estimation strategy has been tested on a number of different sites and experimental results prove the feasibility and robustness of the proposed method