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Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satel...
Autores principales: | , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8434659/ https://www.ncbi.nlm.nih.gov/pubmed/34502825 http://dx.doi.org/10.3390/s21175937 |
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author | Benjumea, Diego Alcántara, Alfonso Ramos, Agustin Torres-Gonzalez, Arturo Sánchez-Cuevas, Pedro Capitan, Jesus Heredia, Guillermo Ollero, Anibal |
author_facet | Benjumea, Diego Alcántara, Alfonso Ramos, Agustin Torres-Gonzalez, Arturo Sánchez-Cuevas, Pedro Capitan, Jesus Heredia, Guillermo Ollero, Anibal |
author_sort | Benjumea, Diego |
collection | PubMed |
description | This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude. |
format | Online Article Text |
id | pubmed-8434659 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84346592021-09-12 Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks Benjumea, Diego Alcántara, Alfonso Ramos, Agustin Torres-Gonzalez, Arturo Sánchez-Cuevas, Pedro Capitan, Jesus Heredia, Guillermo Ollero, Anibal Sensors (Basel) Article This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude. MDPI 2021-09-03 /pmc/articles/PMC8434659/ /pubmed/34502825 http://dx.doi.org/10.3390/s21175937 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Benjumea, Diego Alcántara, Alfonso Ramos, Agustin Torres-Gonzalez, Arturo Sánchez-Cuevas, Pedro Capitan, Jesus Heredia, Guillermo Ollero, Anibal Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title | Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title_full | Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title_fullStr | Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title_full_unstemmed | Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title_short | Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks |
title_sort | localization system for lightweight unmanned aerial vehicles in inspection tasks |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8434659/ https://www.ncbi.nlm.nih.gov/pubmed/34502825 http://dx.doi.org/10.3390/s21175937 |
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