Seamless indoor-outdoor navigation for unmanned multi-sensor aerial platforms

This paper discusses the development of navigation algorithms to enable seamless operation of a small-size multi-copter in an indoor-outdoor environment. In urban and indoor environments a GPS position capability may be unavailable not only due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. The proposed navigation algorithm uses data from a GPS receiver, multiple 2D laser scanners, and an Inertial Measurement Unit (IMU). This paper addresses the proposed multi-mode fusion algorithm and provides initial results using flight test data. This paper furthermore describes the 3DR hexacopter platform that has been used to collect data in an operational environment, starting in an open environment, transitioning to an indoor environment, traversing a building, and, finally, transitioning back to the outdoor environment. Implementation issues will be discussed.