3D Multi-Copter Navigation and Mapping Using GPS, Inertial, and LiDAR

Abstract

As the use of unmanned aerial vehicles has become more prevalent, the need for a reliable threedimensional positioning and navigation capability is required to enable operation in challenging environments where the Global Positioning System (GPS) may not be available. For many of these environments, there may not be one particular method to solve the positioning navigation problem. Therefore, we have selected a set of dissimilar sensor technologies and implemented an integrated navigation method that can support reliable operation in an outdoor and structured indoor environment. The integrated navigation design is based on three types of sensors: a GPS receiver, an inertial measurement unit, and three laser scanners. This paper will show that decimeter-level relative positioning accuracies can be achieved for structured indoor operations and that when segments are included where GPS is available, the platform's trajectory is globally anchored with meter-level accuracy. A secondary goal of the proposed method is the generation of a three-dimensional map of the environment.

Detect and Avoid Considerations for Safe sUAS Operations in Urban Environments

“…Light Detection and Ranging (LiDAR) is becoming a promising technology for obstacle warning and avoidance in a variety of manned and unmanned aircraft applications. LiDAR's outstanding angular resolution and accuracy characteristics are coupled to its good detection performance in a wide range of incidence angles and weather conditions, providing an ideal obstacle avoidance solution, which is especially attractive in sUAS [30]. The Laser Obstacle Avoidance Marconi (LOAM) system is one such system, which was jointly developed and tested by SELEX-ES and the Italian Air Force Research and Flight Test Centre.…”

Assured Multi-Mode Navigation for Urban Operations of Small UAS

“…The geo-references laser and camera data can then be used in the detect and avoid function. This concept bases, in part, on work performed by the authors [17] [18].…”

“…As shown in Figure 6, laser range scanners, vision systems as well as a laser or radar altimeter are good candidates for integration with GNSS in addition to an inertial measurement unit, to provide continuity of the navigation function in areas where the GNSS-only solution is not sufficient. These integration strategies have been explained in detail in previous work by the authors [17][18] [20]. Some preliminary outputs are shown in Fig.…”

Probabilistic graphical fusion of LiDAR, GPS, and 3D building maps for urban UAV navigation

“…Environment observing sensors such as the LiDAR sensor have been used to generate odometry measurements by measuring changes in the observed environment. Dill et al have shown that integrating LiDAR with INS is able to obtain global anchor navigation solutions to meter‐accuracy when GPS is available . Soloviev has demonstrated that 2D line LIDAR scan matching can be paired with GPS for navigating in environments where GPS navigation alone can be difficult .…”