Simultaneous Localization and Mapping for an Unmanned Aerial Vehicle Using Radar and Radio Transmitters

• Main Author: Dahlin, Alfred
• Format: Others
• Language: English
• Published: Linköpings universitet, Reglerteknik 2014
• Subjects: SLAM; simultaneous localisation and mapping; UAV; unmanned aerial vehicle; bearing-only; EKF SLAM; radio transmitters
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110645

The Global Positioning System (GPS) is a cornerstone in Unmanned Aerial Vehicle (UAV) navigation and is by far the most common way to obtain the position of a UAV. However, since there are many scenarios in which GPS measurements might not be available, the possibility of estimating the UAV position without using the GPS would greatly improve the overall robustness of the navigation. This thesis studies the possibility of instead using Simultaneous Localisation and Mapping (SLAM) in order to estimate the position of a UAV using an Inertial Measurement Unit (IMU) and the direction towards ground based radio transmitters without prior knowledge of their position. Simulations using appropriately generated data provides a feasibility analysis which shows promising results for position errors for outdoor trajectories over large areas, however with some issues regarding overall offset. The method seems to have potential but further studies are required using the measurements from a live flight, in order to determine the true performance.