Vision coupled GPS/INS scheme for helicopter navigation |
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Authors: | JaeHyung Kim Joon Lyou HwyKuen Kwak |
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Affiliation: | (1) Neptec Design Group Ltd, Ottawa, ON, Canada |
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Abstract: | This paper presents a framework for a GPS/INS/vision-based helicopter navigation system. The conventional GPS/INS algorithm
has weak points such as GPS blockage and jamming, while the helicopter is a speedy and highly dynamic vehicle that may easily
lose a GPS signal. A vision sensor is not affected by signal jamming, and the navigation error of such a system does not accumulate.
Hence, a GPS/INS/vision-aided navigation scheme was implemented to provide the robust localization suitable for helicopter
operations in various environments. The core algorithm is the vision-based SLAM (simultaneous localization and mapping) technique.
Flight tests were performed to verify the SLAM-aided vision navigation algorithm. During the tests, it was confirmed that
the developed system is sufficiently robust under GPS blockage conditions. The system design, software algorithm, and flight
test results are described in this paper. |
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Keywords: | |
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