TY - GEN
T1 - Real-time Indoor Navigation of UAV Based on Visual Delay Compensation
AU - Li, Jian
AU - Xu, Shaokai
AU - Liu, Yanmin
AU - Liu, Xiangdong
AU - Li, Zhen
AU - Zhang, Fengdi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - For the visual navigation system of unmanned aerial vehicles (UAV), it is of importance to estimate the relative time delay between camera and inertial measurement unit (IMU) because the image data with undetermined delay cannot meet the synchronous requirement with other sensors of UAV indoor navigation. In this paper, an image delay estimation is designed a method that can effectively estimate. By using extended Kalman filter (EKF), the fusion between the IMU data and the visual data is performed with delay compensation so that the real-time pose and velocity of UAV can be effectively estimated. Simulation and experimental results conducted on a UAV prototype show that the delay can be accurately estimated so that the control performance of real-time indoor navigation is obviously improved on the UAV prototype.
AB - For the visual navigation system of unmanned aerial vehicles (UAV), it is of importance to estimate the relative time delay between camera and inertial measurement unit (IMU) because the image data with undetermined delay cannot meet the synchronous requirement with other sensors of UAV indoor navigation. In this paper, an image delay estimation is designed a method that can effectively estimate. By using extended Kalman filter (EKF), the fusion between the IMU data and the visual data is performed with delay compensation so that the real-time pose and velocity of UAV can be effectively estimated. Simulation and experimental results conducted on a UAV prototype show that the delay can be accurately estimated so that the control performance of real-time indoor navigation is obviously improved on the UAV prototype.
KW - Unmanned aerial vehicle (UAV)
KW - extended Kalman filter (EKF)
KW - indoor navigation
KW - time delay compensation
UR - http://www.scopus.com/inward/record.url?scp=85072369891&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2019.8816511
DO - 10.1109/ICMA.2019.8816511
M3 - Conference contribution
AN - SCOPUS:85072369891
T3 - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
SP - 2451
EP - 2456
BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Y2 - 4 August 2019 through 7 August 2019
ER -