Fault-Tolerant Optical Flow SensorSINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment
Joint Authors
Liu, Xiaoming
Chen, Zhongyuan
Chen, Wanchun
Song, Chuang
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-20
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
An integrated navigation scheme based on multiple optical flow sensors and a strapdown inertial navigation system (SINS) are presented, instead of the global position system (GPS) aided.
Multiple optical flow sensors are mounted on a micro air vehicle (MAV) at different positions with different viewing directions for detecting optical flow around the MAV.
A fault-tolerant decentralized extended Kalman filter (EKF) is performed for estimating navigation errors by fusing the inertial and optical flow measurements, which can prevent the estimation divergence caused by the failure of the optical flow sensor.
Then, the estimation of navigation error is inputted into the SINS settlement process for correcting the SINS measurements.
The results verify that the navigation errors of SINS can be effectively reduced (even more than 9/10).
Moreover, although the sensor is in a state of failure for 400 seconds, the fault-tolerant integrated navigation system can still work properly without divergence.
American Psychological Association (APA)
Chen, Zhongyuan& Chen, Wanchun& Liu, Xiaoming& Song, Chuang. 2018. Fault-Tolerant Optical Flow SensorSINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment. Journal of Sensors،Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1202324
Modern Language Association (MLA)
Chen, Zhongyuan…[et al.]. Fault-Tolerant Optical Flow SensorSINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment. Journal of Sensors No. 2018 (2018), pp.1-17.
https://search.emarefa.net/detail/BIM-1202324
American Medical Association (AMA)
Chen, Zhongyuan& Chen, Wanchun& Liu, Xiaoming& Song, Chuang. Fault-Tolerant Optical Flow SensorSINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1202324
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202324