A Terrain Model Generation Method Based on 2D Plan Laser Scanner for Micro UAV Autonomous Flight
Simple, real-time and reliable autonomous navigation and location method is crucial for the autonomous micro UAVs flying continuously in complex environment, such as unknown mountain or city areas. A new method of using onboard two-dimensional (2D) laser
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A Terrain Model Generation Method Based on 2D Plan Laser Scanner for Micro UAV Autonomous Flight Jiang Wu, Qianru Li, Miaozhuang He and Feng Zhang
Abstract Simple, real-time and reliable autonomous navigation and location method is crucial for the autonomous micro UAVs flying continuously in complex environment, such as unknown mountain or city areas. A new method of using onboard two-dimensional (2D) laser scanning sensor, GPS and inertial navigation device to establish the navigation terrain data model for the micro UAV autonomous continues flight is proposed, and then the autonomous navigation and location method in unknown environment is introduced. Terrain model generation method based on 2D plan laser scanning is presented. Scanning data fusion processing and filtering algorithms are proposed. Simulation results demonstrate the feasibility of the proposed method and algorithms. The experimental result shows that the improved algorithms will provide more efficient and effective integrating ability for future UAVs autonomous flight and control in the unknown environment. Keywords UAV
Terrain model Autonomous
24.1 Introduction Micro UAVs are more usually used in the complex environment such as mountain areas and cities. They are forced with threats brought by lots of obstacles and the possibility of the invalidation of exterior signal sources such as GPS. The micro UAV itself has limited airborne capability. However, they can only carry low-cost,
J. Wu (&) Q. Li M. He F. Zhang Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China e-mail: [email protected]
W. Lu et al. (eds.), Proceedings of the 2012 International Conference on Information Technology and Software Engineering, Lecture Notes in Electrical Engineering 211, DOI: 10.1007/978-3-642-34522-7_24, Ó Springer-Verlag Berlin Heidelberg 2013
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low-power mission device, so the computing capability of the onboard device is limited. Simple, real-time and reliable autonomous navigation and location method is necessary to fly in such complex environment. Autonomous flight needs the micro UAV to be equipped with the ability of perceiving the surrounded environment and avoiding obstacles. This paper introduced the method with the airborne laser scanning sensor, GPS and inertial devices to generate navigation terrain data model according to the ground surface data scanned by the laser scanner. The method supports the autonomous navigation and location during the flight of UAVs. In the process of flying, laser scanning sensor scans the ground bellow and then makes terrain matching.
24.2 The Generation Method of Digital Terrain Model Based on 2D Plan Laser Scanning Sensor 24.2.1 The Scheme of Terrain Data Generation Our solution uses laser scanning sensor as the airborne sensor combined with GPS and the inertial navigation. According the planning of the scanning area, UAV flies along the points set of route at the given height. The onboard laser scanning sensor is a 2D scanner, so the s
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