TOWARDS AN ACCURATE LOW-COST STEREO-BASED NAVIGATION OF UNMANNED PLATFORMS IN GNSS-DENIED AREAS

A Low-Cost Vision-Based Unmanned Aerial System for Extremely Low-Light GPS-Denied Navigation and Thermal Imaging

This paper presents the design and implementation details of a complete unmanned aerial system (UAS) based on commercial-off-the-shelf (COTS) components, focusing on safety, security, search and rescue scenarios in GPS-denied environments. In particular, The aerial platform is capable of semi-autonomously navigating through extremely low-light, GPS-denied indoor environments based on onboard se...

Visual-Inertial based autonomous navigation of an Unmanned Aerial Vehicle in GPS-Denied environments

6DoF SLAM aided GNSS/INS Navigation in GNSS Denied and Unknown Environments

This paper presents the results of augmenting 6DoF Simultaneous Localisation and Mapping (SLAM) with GNSS/INS navigation system. SLAM algorithm is a feature based terrain aided navigation system that has the capability for online map building, and simultaneously utilising the generated map to constrain the errors in the on-board Inertial Navigation System (INS). In this paper, indirect SLAM is ...

Enabling Accurate Low Cost Positioning in Denied Gps Environments with Nonlinear Error Models of Inertial Systems

The complementary characteristics of GPS and inertial sensors motivate their integration for more reliable positioning information in challenging GPS environments. Last decade has witnessed an increasing trend of utilizing MEMS-grade inertial sensors in the integration due to their low cost. For this research, only one MEMS-grade gyroscope and the vehicle built-in odometer are used together wit...

RPAS Navigation and Guidance Systems based on GNSS and other Low-Cost Sensors

A new navigation system for small size Remotely Piloted Aircraft Systems (RPAS) is presented, which is based on Global Navigation Satellite System (GNSS), Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU), Vision Based Navigation (VBN) and other low-cost avionics sensors. The objective of this research is to design a compact, lightweight and relatively inexpensive Nav...