A ROS Multi-Tier UAV Localization Module Based on GNSS, Inertial and Visual-Depth Data

Uncrewed aerial vehicles (UAVs) are continuously gaining popularity in a wide spectrum of applications, while their positioning and navigation most often relies on Global Navigation Satellite Systems (GNSS). However, numerous conditions practices require UAV operation GNSS-denied environments, including confined spaces, urban canyons, vegetated areas indoor places. For the purposes this study, an integrated system was designed implemented which utilizes GNSS, visual, depth inertial data to provide real-time localization. The implementation is built as package for Robotic Operation System (ROS) environment allow ease integration various systems. can be autonomously adjusted flight environment, providing spatial awareness aircraft. This expands functionality UAVs, it enables even environments. positional provides means support fully autonomous under mixed or malfunctioning conditions. Experiments show capability adequate results open, spaces.