Abstract
As the capabilities of Unmanned Aerial Vehicles (UAVs) expand, increasing demands are being placed on the hardware and software that comprise their guidance and navigation systems. Guidance, navigation and control algorithms are the core of flight software of UAVs to successfully complete the assigned mission through autonomous flight. This chapter describes some guidance and navigation systems that we have designed and successfully applied to the autonomous flight of a mini rotorcraft UAV that weighs less than 0.7 kg. The real-time flight test results show that the vehicle can perform autonomous flight reliably in indoor and outdoor environments.
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Notes
- 1.
Here waypoint navigation is defined as the process of automatically following a path defined by a set of geodetic coordinates (GPS coordinates).
- 2.
Latitude–Longitude–Altitude.
- 3.
North–East–Down.
- 4.
For comparison purpose, the SFM estimates are scaled and normalized in a post-processing step in order to obtain the absolute camera motion and depths.
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Nonami, K., Kendoul, F., Suzuki, S., Wang, W., Nakazawa, D. (2010). Guidance and Navigation Systems for Small Aerial Robots. In: Autonomous Flying Robots. Springer, Tokyo. https://doi.org/10.1007/978-4-431-53856-1_10
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DOI: https://doi.org/10.1007/978-4-431-53856-1_10
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