Unmanned Aerial Vehicle (UAV): Back to Base Without Satellite Navigation
Everyone wants to automate routine or tiring work. There are a lot of tasks that may be done by drones. For example border protection or delivering. But before any company or even country adopts any technology we need to verify that it's not vulnerable to
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Belarusian State University, Minsk, Belarus [email protected] United Institute of Informatics Problems of the NAS of Belarus, Minsk, Belarus [email protected], [email protected]
Abstract. Everyone wants to automate routine or tiring work. There are a lot of tasks that may be done by drones. For example border protection or delivering. But before any company or even country adopts any technology we need to verify that it's not vulnerable to any attacks. A satellite navigation is at least one vulner‐ ability for drones, which can be easily broken or spoofed. This is a serious problem on the way to automation work by drones. Our goal is to improve accuracy of existing Inertial Navigation Systems on UAVs with an on-board video camera. In this article we've investigated how feature based methods fit back to base problem. Keywords: UAV · Drones · Detectors · Descriptors
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Introduction
Nowadays UAV’s industry evolves in the different spheres of life. Think about the Amazon Prime Air that needs to deliver purchases to customers or those various military drones that can strike or scout, drones for mapping and etc. The most of the drones have auto-return home function: when satellite navigation is available, drone remembers the exact spot which it took off from. Wherever drone is flying, if its battery is running very low or user decided to call it back then it returns directly to home. This function works well under normal conditions. But under military conditions, where it is very simple to drown out the GPS signal or even emit counterfeit signal, we are forced to find another methods to return to home. Also in some regions the GPS signal can be unstable and weak and cause problems when returning home. 1.1 Inertial Navigation System Usually drone has Inertial Navigation System (INS) [1], which contain Inertial Meas‐ urement Units (IMU) which have angular and linear accelerometers (for changes in position); some IMUs include a gyroscopic element (for maintaining an absolute angular reference). The purpose of INS is calculate via dead reckoning the position, orientation,
© Springer International Publishing AG 2017 V.V. Krasnoproshin and S.V. Ablameyko (Eds.): PRIP 2016, CCIS 673, pp. 140–149, 2017. DOI: 10.1007/978-3-319-54220-1_15
Unmanned Aerial Vehicle (UAV)
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and velocity (direction and speed of movement) of a moving object without the need for external references. The main disadvantage of INS is that they have measurement errors and accumulate them during the flight. Moreover there is a whole class of small drones that cannot afford to equip large or heavy, or expensive INS, it also reduces the accuracy of the measure‐ ments. So if UAV is very far from home and will return only by INS, then it can return to the place which is still far from home. Figure 1 shows accuracy of different navigation systems.
Fig. 1. Accuracy of navigation systems
1.2 Experimental Results with INS We conducted several tests with INS on real drone AR.Drone 2.0 (Fig. 2). It has weight about 400 grams and flight time about 15 min
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