Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.差分GNSS和建立跟踪改善合作Multi-UAV系统的导航性精品.pdf

sensors Article Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems Amedeo Rodi Vetrella *, Giancarmine Fasano, Domenico Accardo and Antonio Moccia Department of Industrial Engineering, University of Naples Federico II, Piazzale Tecchio 80, Naples 80125, Italy; g.fasano@unina.it (G.F.); domenico.accardo@unina.it (D.A.); antonio.moccia@unina.it (A.M.) * Correspondence: amedeorodi.vetrella@unina.it; Tel.: +39-81-768-3365 Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos Received: 7 November 2016; Accepted: 14 December 2016; Published: 17 December 2016 Abstract: Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude d