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Improved Optical Sensor Fusion in UAV Navigation Using Feature Point Threshold Filter

Improved Optical Sensor Fusion in UAV Navigation Using Feature Point Threshold Filter This paper proposes the modified feature point threshold filter (FPTF) algorithm for UAVs to improve optical-flow-based navigation performance depending on the altitude and velocity. The modified FPTF algorithm is applied to fusion an INS sensor and an optical flow sensor and verified at an altitude of under 100 m. The sensor fusion is based on the PX4 open-source autopilot environment, and flight controllers are integrated with the PX4FLOW, a commercial optical sensor, to leverage optical flow information relative to the ground. The feasibility and performance of the proposed approach are demonstrated using Gazebo simulation and experimental flight test with a multicopter UAV while changing flight conditions such as altitude and velocity. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Aeronautical and Space Sciences Springer Journals

Improved Optical Sensor Fusion in UAV Navigation Using Feature Point Threshold Filter

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References (20)

Publisher
Springer Journals
Copyright
Copyright © The Korean Society for Aeronautical & Space Sciences 2021
ISSN
2093-274X
eISSN
2093-2480
DOI
10.1007/s42405-021-00423-6
Publisher site
See Article on Publisher Site

Abstract

This paper proposes the modified feature point threshold filter (FPTF) algorithm for UAVs to improve optical-flow-based navigation performance depending on the altitude and velocity. The modified FPTF algorithm is applied to fusion an INS sensor and an optical flow sensor and verified at an altitude of under 100 m. The sensor fusion is based on the PX4 open-source autopilot environment, and flight controllers are integrated with the PX4FLOW, a commercial optical sensor, to leverage optical flow information relative to the ground. The feasibility and performance of the proposed approach are demonstrated using Gazebo simulation and experimental flight test with a multicopter UAV while changing flight conditions such as altitude and velocity.

Journal

International Journal of Aeronautical and Space SciencesSpringer Journals

Published: Feb 1, 2022

Keywords: Unmanned aerial vehicle (UAV); Sensor fusion; Optical flow; Extended Kalman filter (EKF); Navigation; PX4; Gazebo; Flight test

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