P1. Pose Determination of Leightweight UAVs

Homepage: http://www.gib.uni-bonn.de/forschung/bew_obj/mapping-on-demand/mapping-on-demand
Project coordinator/staff: H. Kuhlmann, W. Förstner, C. Eling, L. Klingbeil
Summary: In order to derive a precise robot position and orientation information with an update rate of 10-20Hz, a number of different sensors are processed and fused in an onboard navigation unit, which is developed within this project. The localization algorithm will be based on recursive Bayesian estimation methods and it will combine differential carrier phase GPS observations, inertial sensor data and a constant stream of homologous feature points derived from a stereo camera system. The algorithm is planned to be robust against short GPS outages and disturbances.

Institute of Geodesy and Geoinformation, Department of Photogrammetry
University of Bonn, Germany
Nussallee 15, 53115 Bonn