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Obtaining World Coordinate Information of UAV in GNSS Denied Environments

GNSS information is vulnerable to external interference and causes failure when unmanned aerial vehicles (UAVs) are in a fully autonomous flight in complex environments such as high-rise parks and dense forests. This paper presents a pan-tilt-based visual servoing (PBVS) method for obtaining world c...

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Detalles Bibliográficos
Autores principales: Chen, Chengbin, Tian, YaoYuan, Lin, Liang, Chen, SiFan, Li, HanWen, Wang, YuXin, Su, KaiXiong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7218882/
https://www.ncbi.nlm.nih.gov/pubmed/32326647
http://dx.doi.org/10.3390/s20082241
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author Chen, Chengbin
Tian, YaoYuan
Lin, Liang
Chen, SiFan
Li, HanWen
Wang, YuXin
Su, KaiXiong
author_facet Chen, Chengbin
Tian, YaoYuan
Lin, Liang
Chen, SiFan
Li, HanWen
Wang, YuXin
Su, KaiXiong
author_sort Chen, Chengbin
collection PubMed
description GNSS information is vulnerable to external interference and causes failure when unmanned aerial vehicles (UAVs) are in a fully autonomous flight in complex environments such as high-rise parks and dense forests. This paper presents a pan-tilt-based visual servoing (PBVS) method for obtaining world coordinate information. The system is equipped with an inertial measurement unit (IMU), an air pressure sensor, a magnetometer, and a pan-tilt-zoom (PTZ) camera. In this paper, we explain the physical model and the application method of the PBVS system, which can be briefly summarized as follows. We track the operation target with a UAV carrying a camera and output the information about the UAV’s position and the angle between the PTZ and the anchor point. In this way, we can obtain the current absolute position information of the UAV with its absolute altitude collected by the height sensing unit and absolute geographic coordinate information and altitude information of the tracked target. We set up an actual UAV experimental environment. To meet the calculation requirements, some sensor data will be sent to the cloud through the network. Through the field tests, it can be concluded that the systematic deviation of the overall solution is less than the error of GNSS sensor equipment, and it can provide navigation coordinate information for the UAV in complex environments. Compared with traditional visual navigation systems, our scheme has the advantage of obtaining absolute, continuous, accurate, and efficient navigation information at a short distance (within 15 m from the target). This system can be used in scenarios that require autonomous cruise, such as self-powered inspections of UAVs, patrols in parks, etc.
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spelling pubmed-72188822020-05-22 Obtaining World Coordinate Information of UAV in GNSS Denied Environments Chen, Chengbin Tian, YaoYuan Lin, Liang Chen, SiFan Li, HanWen Wang, YuXin Su, KaiXiong Sensors (Basel) Article GNSS information is vulnerable to external interference and causes failure when unmanned aerial vehicles (UAVs) are in a fully autonomous flight in complex environments such as high-rise parks and dense forests. This paper presents a pan-tilt-based visual servoing (PBVS) method for obtaining world coordinate information. The system is equipped with an inertial measurement unit (IMU), an air pressure sensor, a magnetometer, and a pan-tilt-zoom (PTZ) camera. In this paper, we explain the physical model and the application method of the PBVS system, which can be briefly summarized as follows. We track the operation target with a UAV carrying a camera and output the information about the UAV’s position and the angle between the PTZ and the anchor point. In this way, we can obtain the current absolute position information of the UAV with its absolute altitude collected by the height sensing unit and absolute geographic coordinate information and altitude information of the tracked target. We set up an actual UAV experimental environment. To meet the calculation requirements, some sensor data will be sent to the cloud through the network. Through the field tests, it can be concluded that the systematic deviation of the overall solution is less than the error of GNSS sensor equipment, and it can provide navigation coordinate information for the UAV in complex environments. Compared with traditional visual navigation systems, our scheme has the advantage of obtaining absolute, continuous, accurate, and efficient navigation information at a short distance (within 15 m from the target). This system can be used in scenarios that require autonomous cruise, such as self-powered inspections of UAVs, patrols in parks, etc. MDPI 2020-04-15 /pmc/articles/PMC7218882/ /pubmed/32326647 http://dx.doi.org/10.3390/s20082241 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Chen, Chengbin
Tian, YaoYuan
Lin, Liang
Chen, SiFan
Li, HanWen
Wang, YuXin
Su, KaiXiong
Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title_full Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title_fullStr Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title_full_unstemmed Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title_short Obtaining World Coordinate Information of UAV in GNSS Denied Environments
title_sort obtaining world coordinate information of uav in gnss denied environments
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7218882/
https://www.ncbi.nlm.nih.gov/pubmed/32326647
http://dx.doi.org/10.3390/s20082241
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