发明名称 MULTI-SENSOR FUSION FOR AUTONOMOUS FLIGHT WITH A ROTORCRAFT MICRO-AERIAL VEHICLE (MAV)
摘要 The subject matter described herein includes a modular and extensible approach to integrate noisy measurements from multiple heterogeneous sensors that yield either absolute or relative observations at different and varying time intervals, and to provide smooth and globally consistent estimates of position in real time for autonomous flight. We describe the development of the algorithms and software architecture for a new 1.9 kg MAV platform equipped with an IMU, laser scanner, stereo cameras, pressure altimeter, magnetometer, and a GPS receiver, in which the state estimation and control are performed onboard on an Intel NUC 3rd generation i3 processor. We illustrate the robustness of our framework in large-scale, indoor-outdoor autonomous aerial navigation experiments involving traversals of over 440 meters at average speeds of 1.5 m/s with winds around 10 mph while entering and exiting buildings.
申请公布号 WO2015105597(A4) 申请公布日期 2015.12.10
申请号 WO2014US67822 申请日期 2014.11.28
申请人 THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA 发明人 KUMAR, R., VIJAY;SHEN, SHAOJIE;MICHAEL, NATHAN;MOHTA, KARTIK
分类号 G05D1/00 主分类号 G05D1/00
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