Integrated Navigation Method and Realization Based on Monocular and IMU for Quadrotor

DOI

10.2991/icmmbe-16.2016.127How to use a DOI?

Keywords

Monocular, IMU, Quadrotor, Navigation.

Abstract

This paper realizes the localization method base on the SVO (Semi-Direct Visual Odometry) and IMU (Inertial Measurement Unit) without GPS. According to this novel visual estimation method, the position and orientation are estimated by the MSF (Multi Sensor Fusion) with EKF (Extended Kalman Filter). In order to consider the actual application, the accuracy and the repeatability are evaluated and analyzed. For this purpose, two types of experiments are performed, in which the accuracy and the repeatability of our navigation platform are described and analyzed.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - CunXiao Miao
AU  - WeiMing Wen
AU  - MingHua Lu
PY  - 2016/09
DA  - 2016/09
TI  - Integrated Navigation Method and Realization Based on Monocular and IMU for Quadrotor
BT  - Proceedings of the6th International Conference on Mechatronics, Materials, Biotechnology and Environment (ICMMBE 2016)
PB  - Atlantis Press
SP  - 684
EP  - 687
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmbe-16.2016.127
DO  - 10.2991/icmmbe-16.2016.127
ID  - Miao2016/09
ER  -