5 research outputs found
Frequency-Domain System Identification of an Unmanned Helicopter Based on an Adaptive Genetic Algorithm
Multi-Feature Nonlinear Optimization Motion Estimation Based on RGB-D and Inertial Fusion
A Novel Cross-Feedback Notch Filter for Synchronous Vibration Suppression of an MSFW With Significant Gyroscopic Effects
A Real-Time Simulator for Navigation in GNSS-Denied Environments of UAV Swarms
Accurate localization is the foundation of unmanned aerial vehicle (UAV) swarm applications in the global navigation satellite system (GNSS)-denied environment. However, the implementation of UAV formation in the real world is costly and time-consuming, which leads to difficulties in developing navigation algorithms. A real-time simulator for navigation in GNSS-denied environments is proposed, which includes world, model, controller, scene matching navigation (SMN), relative navigation and formation controller modules. Each module can be modified, which means that users can test their own algorithms. A novel inertial-aided SMN (ISMN) algorithm is developed and a relative navigation method that does not rely on inter communication is proposed. ISMN and relative navigation based on a camera and ultrawideband (UWB) are tested on the platform. Based on the developed simulation system, the navigation algorithms can be verified easily, which can reduce the time and personnel requirements during flight testing