Real-Time Terrain-Following of an Autonomous Quadrotor by Multi-Sensor Fusion and Control

For the application of autonomous guidance a quadrotor from confined undulant ground, terrain-following is major issue for flying at low altitude. This study has modified open-source autopilot based on integration multi-sensor receiver (a Global Navigation Satellite System (GNSS)), Lidar-lite laser-range-finder device), barometer and low-cost inertial navigation system (INS)). These automatically control position, attitude height constant clearance above ground) to allow avoid obstacles multi-sensors that maintain flat ground or with obstacles. The INS/Lidar-lite applied stabilization, respectively. made by combination an extended Kalman filter (EKF) estimator cascade proportional-integral-derivative (PID) controller designed appropriately noise characteristics accuracy sensors. proposed tested both simulations real-world experiments. results indicate can continuously navigate real-time response reliable adjustment time PID improving over 50% than controller.