Paper Abstract and Keywords |
Presentation |
2018-08-09 12:45
[Invited Lecture]
Precise UAV Position and Attitude Estimation using Multiple GNSS Receivers for 3D Mapping Taro Suzuki, Yoshiharu Amano (Waseda Univ.) SAT2018-31 RCS2018-134 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
Direct 3D mapping using a small UAV equipped with a laser scanner is required for many remote sensing applications. In direct 3D mapping, the precise position and attitude of the UAV are necessary to construct 3D maps. A small UAV has a payload limitation, thus dual-frequency GNSS receivers and high-grade IMUs are difficult to implement for 3D mapping. In this paper, we propose a precise position and attitude estimation techniques that employs multiple low-cost and light-weight GNSS antennas and receivers for small UAVs. Using the “redundancy” of multiple GNSS receivers, we can improve the position and attitude estimation accuracy in multipath environments, such as those located near buildings. We developed a prototype UAV equipped with 6 GNSS antennas and receivers. From the test results, we conclude that the proposed technique can improve the accuracy of the position and attitude estimation. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
UAV / GNSS / GPS / Position Estimation / Attitude Estimation / 3D Mapping / / |
Reference Info. |
IEICE Tech. Rep., vol. 118, no. 176, SAT2018-31, pp. 17-20, Aug. 2018. |
Paper # |
SAT2018-31 |
Date of Issue |
2018-08-02 (SAT, RCS) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
Download PDF |
SAT2018-31 RCS2018-134 |
Conference Information |
Committee |
SAT RCS |
Conference Date |
2018-08-09 - 2018-08-10 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Iwate University |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
Wireless Communications, etc. |
Paper Information |
Registration To |
SAT |
Conference Code |
2018-08-SAT-RCS |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Precise UAV Position and Attitude Estimation using Multiple GNSS Receivers for 3D Mapping |
Sub Title (in English) |
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UAV |
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GNSS |
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GPS |
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Position Estimation |
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Attitude Estimation |
Keyword(6) |
3D Mapping |
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1st Author's Name |
Taro Suzuki |
1st Author's Affiliation |
Waseda University (Waseda Univ.) |
2nd Author's Name |
Yoshiharu Amano |
2nd Author's Affiliation |
Waseda University (Waseda Univ.) |
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Speaker |
Author-1 |
Date Time |
2018-08-09 12:45:00 |
Presentation Time |
25 minutes |
Registration for |
SAT |
Paper # |
SAT2018-31, RCS2018-134 |
Volume (vol) |
vol.118 |
Number (no) |
no.176(SAT), no.177(RCS) |
Page |
pp.17-20(SAT), pp.19-22(RCS) |
#Pages |
4 |
Date of Issue |
2018-08-02 (SAT, RCS) |
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