scholarly journals Compressed pseudo-SLAM: pseudorange-integrated compressed simultaneous localisation and mapping for unmanned aerial vehicle navigation

2021 ◽  
pp. 1-13
Author(s):  
Jonghyuk Kim ◽  
Jose Guivant ◽  
Martin L. Sollie ◽  
Torleiv H. Bryne ◽  
Tor Arne Johansen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Computational Cost ◽  
Satellite System ◽  
Measurement Unit ◽  
Electronic Systems ◽  
Computationally Efficient ◽  
Global Correlation ◽  
Aerial Vehicle ◽  
Correlation Information ◽  
Global Navigation Satellite

Abstract This paper addresses the fusion of the pseudorange/pseudorange rate observations from the global navigation satellite system and the inertial–visual simultaneous localisation and mapping (SLAM) to achieve reliable navigation of unmanned aerial vehicles. This work extends the previous work on a simulation-based study [Kim et al. (2017). Compressed fusion of GNSS and inertial navigation with simultaneous localisation and mapping. IEEE Aerospace and Electronic Systems Magazine, 32(8), 22–36] to a real-flight dataset collected from a fixed-wing unmanned aerial vehicle platform. The dataset consists of measurements from visual landmarks, an inertial measurement unit, and pseudorange and pseudorange rates. We propose a novel all-source navigation filter, termed a compressed pseudo-SLAM, which can seamlessly integrate all available information in a computationally efficient way. In this framework, a local map is dynamically defined around the vehicle, updating the vehicle and local landmark states within the region. A global map includes the rest of the landmarks and is updated at a much lower rate by accumulating (or compressing) the local-to-global correlation information within the filter. It will show that the horizontal navigation error is effectively constrained with one satellite vehicle and one landmark observation. The computational cost will be analysed, demonstrating the efficiency of the method.

scholarly journals UNMANNED AERIAL VEHICLE LASER SCANNING FOR EROSION MONITORING IN ALPINE GRASSLAND

2019 ◽  
Vol IV-2/W5 ◽  
pp. 405-412 ◽  
Author(s):  
A. Mayr ◽  
M. Bremer ◽  
M. Rutzinger ◽  
C. Geitner
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Point Cloud ◽  
Laser Scanning ◽  
Test Site ◽  
Satellite System ◽  
Alpine Grassland ◽  
Proof Of Concept ◽  
Aerial Vehicle ◽  
Geomorphological Changes ◽  
Global Navigation Satellite

<p><strong>Abstract.</strong> With this contribution we assess the potential of unmanned aerial vehicle (UAV) based laser scanning for monitoring shallow erosion in Alpine grassland. A 3D point cloud has been acquired by unmanned aerial vehicle laser scanning (ULS) at a test site in the subalpine/alpine elevation zone of the Dolomites (South Tyrol, Italy). To assess its accuracy, this point cloud is compared with (i) differential global navigation satellite system (GNSS) reference measurements and (ii) a terrestrial laser scanning (TLS) point cloud. The ULS point cloud and an airborne laser scanning (ALS) point cloud are rasterized into digital surface models (DSMs) and, as a proof-of-concept for erosion quantification, we calculate the elevation difference between the ULS DSM from 2018 and the ALS DSM from 2010. For contiguous spatial objects of elevation change, the volumetric difference is calculated and a land cover class (<i>bare earth</i>, <i>grassland</i>, <i>trees</i>), derived from the ULS reflectance and RGB colour, is assigned to each change object. In this test, the accuracy and density of the ALS point cloud is mainly limiting the detection of geomorphological changes. Nevertheless, the plausibility of the results is confirmed by geomorphological interpretation and documentation in the field. A total eroded volume of 672&amp;thinsp;m<sup>3</sup> is estimated for the test site (48&amp;thinsp;ha). Such volumetric estimates of erosion over multiple years are a key information for improving sustainable soil management. Based on this proof-of-concept and the accuracy analysis, we conclude that repeated ULS campaigns are a well-suited tool for erosion monitoring in Alpine grassland.</p>

KONTRIBUSI GLOBAL NAVIGATION SATELLITE SYSTEM PADA PENENTUAN TITIK KONTROL UDARA DI METODE FOTOGRAMETRI UNMANNED AERIAL VEHICLE UNTUK PEMETAAN SKALA BESAR DI INDONESIA

2021 ◽  
pp. 867
Author(s):  
Irwan Gumilar ◽  
Deni Suwardhi ◽  
Irfan Budaya ◽  
Brian Bramanto ◽  
Kamal Nur Fauzan
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Global Navigation Satellite System ◽  
Satellite System ◽  
Navigation Satellite ◽  
Mean Square ◽  
Post Processing ◽  
Check Points ◽  
Aerial Vehicle ◽  
Global Navigation ◽  
Global Navigation Satellite

Indonesia saat ini sedang melakukan pemetaan skala besar secara masif. Salah satu metode yang digunakan pada pemetaan skala besar tersebut adalah dengan menggunakan teknik fotogrametri berbasiskan Unmanned Aerial Vehicle (UAV). Saat ini, metode penentuan titik kontrol udara dengan menggunakan Global Navigation Satellite System (GNSS) banyak dilakukan untuk memimalisir jumlah titik kontrol tanah tanpa mengurangi kualitas dari produk fotogrameteri yang dihasilkan. Penelitian ini bertujuan untuk menganalisa kontribusi sistem GNSS pada penentuan titik kontrol udara untuk metode fotogrametri berbasiskan UAV. Pengukuran GNSS frekuensi ganda pada sistem UAV di wilayah Jatinangor, Bandung dan Panglipuran Bali digunakan pada penelitian ini. Panjang baseline antara titik kontrol dan rover berkisar antara 350 hingga 900 m. Penentuan posisi titik kontrol udara berbasiskan GNSS menggunakan metode Post Processing Kinematic (PPK) dengan teknik pemecahan ambiguitas fase LAMBDA Fix and Hold. Pengolahan data GNSS dilakukan dengan menggunakan beberapa kombinasi frekuensi dan sistem GNSS. Evaluasi ketelitian hasil perataan berkas menggunakan titik kontrol udara pada setiap kombinasi frekuensi dan sistem GNSS dilakukan dengan memperhatikan nilai Root Mean Square Error (RMSE) pada 20 titik cek tanah atau Independent Check Points (ICP). Berdasarkan hasil tersebut, kombinasi gelombang L1 dan L2 menggunakan sistem GPS dan BeiDou idealnya digunakan untuk pemetaan skala besar menggunakan fotogrametri UAV. Selain itu, kombinasi data GPS dan Beidou frekuensi ganda memiliki tingkat ketelitian titik kontrol udara yang terbaik dibandingkan kombinasi yang lainnya. Selain itu, kombinasi GPS dan BeiDou menggunakan hanya gelombang L1 memiliki tingkat ketelitian yang sama dibandingkan dengan GPS menggunakan gelombang L1 dan L2.

scholarly journals Unmanned Aerial Vehicle Surveying For Monitoring Road Construction Earthworks

2019 ◽  
Vol 14 (1) ◽  
pp. 1-17 ◽  
Author(s):  
Kalev Julge ◽  
Artu Ellmann ◽  
Romet Köök
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Road Construction ◽  
Point Clouds ◽  
Satellite System ◽  
Ground Control Points ◽  
Surface Models ◽  
Aerial Vehicle ◽  
Global Navigation Satellite ◽  
Sand And Gravel ◽  
The Impact

Unmanned aerial vehicle photogrammetry is a surveying technique that enables generating point clouds, 3D surface models and orthophoto mosaics. These are based on photos captured with a camera placed on an unmanned aerial vehicle. Within the framework of this research, unmanned aerial vehicle photogrammetry surveys were carried out over a sand and gravel embankment with the aim of assessing the vertical accuracy of the derived surface models. Flight altitudes, ground control points and cameras were varied, and the impact of various factors on the results was monitored. In addition, the traditional real-time-kinematic Global Navigation Satellite System surveys were conducted for verifications. Surface models acquired by different methods were used to calculate volumes and compare the results with requirements set by Estonian Road Administration. It was found that with proper measuring techniques an accuracy of 5.7 cm for the heights were achieved.

scholarly journals Sensitivity to Time Delays in VDM-Based Navigation

Drones ◽  
2019 ◽  
Vol 3 (1) ◽  
pp. 11 ◽  
Author(s):  
Gabriel Laupré ◽  
Mehran Khaghani ◽  
Jan Skaloud
Keyword(s):  
Time Delays ◽  
Inertial Measurement Unit ◽  
Time Frame ◽  
Satellite System ◽  
Measurement Unit ◽  
Control Input ◽  
Aerial Vehicle ◽  
Aerial Platforms ◽  
Global Navigation Satellite ◽  
Vehicle Dynamic Model

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute time frame as inertial measurement unit (IMU) data and all other observations when available (e.g., global navigation satellite system (GNSS) position, barometric altitude, etc.). This study analyzes the (non-) tolerances of possible delays in control-input command with respect to navigation performance on a fixed-wing unmanned aerial vehicle (UAV). Multiple simulations using two emulated trajectories based on real flights reveal the vital importance of correct time-tagging of servo data while that of motor data turned out to be tolerable to a considerably large extent.

scholarly journals Nghiên cứu chế độ bay UAV trong khảo sát địa hình công trình dạng tuyến - ứng dụng cho đoạn đường đê Xuân Quan, Hà Nội

2021 ◽  
Vol 15 (7V) ◽  
pp. 131-142
Author(s):  
Lương Ngọc Dũng ◽  
Trần Đình Trọng ◽  
Vũ Đình Chiều ◽  
Bùi Duy Quỳnh ◽  
Hà Thị Hằng ◽  
...  
Keyword(s):  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Global Navigation Satellite System ◽  
Satellite System ◽  
Viet Nam ◽  
Navigation Satellite ◽  
Real Time Kinematic ◽  
Aerial Vehicle ◽  
Global Navigation ◽  
Global Navigation Satellite

Giải pháp thành lập bản đồ địa hình bằng thiết bị bay không người lái (Unmanned Aerial Vehicle - UAV) đang ngày càng phổ biến ở Việt Nam. Đã có nhiều nghiên cứu chứng minh thiết bị UAV đảm bảo độ chính xác thành lập bản đồ địa hình tỷ lệ lớn, tuy nhiên chưa có các giải pháp cụ thể cho công trình đặc thù dạng tuyến. Mục tiêu nghiên cứu của bài báo là các chế độ bay phù hợp cho công tác khảo sát địa hình các công trình dạng tuyến. Đối tượng thực nghiệm, một đoạn đường bộ thuộc địa phận đê Xuân Quan, Hà Nội, được khảo sát bằng thiết bị UAV Phantom 4 Pro với các chế độ khác nhau trên các phần mềm điều khiển bay có sẵn. Kết quả thực nghiệm các chế độ bay được so sánh với kết quả đo định vị động thời gian thực (Global Navigation Satellite System/Real Time Kinematic - GNSS/RTK) để đánh giá độ chính xác. Nghiên cứu chỉ ra kiểu bay dải phủ trùm, đối với công trình dạng tuyến, thích hợp ở các giai đoạn thiết kế kỹ thuật và thiết kế thi công. Trong khi kiểu bay 2 dải đơn phù hợp và hiệu quả cho các quá trình quy hoạch, đánh giá sơ bộ công trình dạng tuyến.

scholarly journals Validation and application of sequential unmanned aerial vehicle surveys to monitor the kinematics of a rapid rock glacier

2021 ◽  
Author(s):  
Sebastián Vivero ◽  
Reynald Delaloye ◽  
Christophe Lambiel
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Environmental Changes ◽  
Surface Expression ◽  
Satellite System ◽  
Surface Velocity ◽  
European Alps ◽  
Rock Glacier ◽  
Monitoring Method ◽  
Aerial Vehicle ◽  
Global Navigation Satellite

Abstract. Accurately assessing landform evolution and quantifying rapid environmental changes are gaining importance in the context of monitoring techniques in alpine environments. In the European Alps, glaciers and rock glaciers are among the most characteristic cryospheric components bearing the most prolonged monitoring periods. This study introduces a rigorous procedure to quantify rock glacier kinematics and their associated uncertainty derived from sequential unmanned aerial vehicle (UAV) surveys. High-resolution digital elevation models (DEMs) and orthomosaics are derived from UAV image series combined with structure from motion (SfM) photogrammetry techniques. Multitemporal datasets are employed for measuring spatially continuous rock glacier kinematics using image matching algorithms. This procedure is tested on seven consecutive (from 2016 to 2019) UAV surveys of Tsarmine rock glacier, Valais Alps, Switzerland. The evaluation of superficial displacements was performed with simultaneous in-situ differential global navigation satellite system (GNSS) measurements. During the study period, the rock glacier doubled its overall frontal velocity, from around 5 m yr−1 between October 2016 and June 2017 to more than 10 m yr−1 between June and September 2019. Using the adequate UAV survey acquisition, processing, and validation steps, we almost achieved the same accuracy as the GNSS-derived velocities. Nevertheless, the proposed monitoring method provides accurate surface velocity fields values, which allow an enhanced description of the current rock glacier dynamics and its surface expression.

scholarly journals Position deceptive tracking controller and parameters analysis via error characteristics for unmanned aerial vehicle

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141882540 ◽  
Author(s):  
Yan Guo ◽  
Meiping Wu ◽  
Kanghua Tang ◽  
Junbo Tie ◽  
Jingyu Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Satellite System ◽  
Initial State ◽  
Error Characteristics ◽  
Tracking Controller ◽  
Aerial Vehicle ◽  
Parameters Analysis ◽  
Global Navigation Satellite ◽  
Path Point

Covert Global Navigation Satellite System spoofer, called position deceptive tracking controller for unmanned aerial vehicle, is studied via analyzing the error characteristics in this article. Specifically, the following topics are discussed: (1) design the position deceptive tracking controller to make unmanned aerial vehicle deviate from the original path and follow up the spoofed new path point by point, and (2) analyze the related parameters by exploring the characteristics of the initial estimated state errors. Simulation results show the designed controller can realize the position offset of unmanned aerial vehicle unknowingly. What’s more, it can eliminate the initial state errors by selecting appropriate parameters.

scholarly journals A Sustainable Approach to Geomatic Methods in Ravine Monitoring and Associated Natural Disaster Prevention

2021 ◽  
Author(s):  
Sanda Naș ◽  
Oana Manuela Ciurean ◽  
Mircea V. Bondrea ◽  
Virgil Mihai Radulescu
Keyword(s):  
Natural Disaster ◽  
Unmanned Aerial Vehicle ◽  
Global Navigation Satellite System ◽  
Satellite System ◽  
Navigation Satellite ◽  
Disaster Prevention ◽  
Non Invasive ◽  
Aerial Vehicle ◽  
Global Navigation Satellite ◽  
Life On Earth

This paper presents the monitoring of an extremely eroding phenomenon (ravine) near Ciurila, Cluj County, Romania, using UAV (Unmanned Aerial Vehicle) and GNSS (Global Navigation Satellite System) technologies, taking into account the objectives of SDG 15 of the UN resolution, which refers to life on earth. In this sense, the results of a monitoring through sustainable and non-invasive technologies are presented, follo-wing three cycles of observations, carried out between June 2019 and April 2021.The paper aims to present the advantages and limitations of such a study , as well as the importance of monitoring erosion phenomena (in this case, ravines) for the ecosystem, but also for the nearby inhabitants. Software and technologies are used that allow the automatic calculation of the volume of the ravine and the displacements between the different measurement cycles, which allows obtaining objective conclusions and pro-posing further measures.

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