A5030928738- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Inertial Sensor and Navigation
- Target Tracking and Data Fusion in Sensor Networks
- Air Traffic Management and Optimization
- 3D Surveying and Cultural Heritage
- Space Satellite Systems and Control
- Autonomous Vehicle Technology and Safety
- Maritime Navigation and Safety
- Aerospace and Aviation Technology
- Geophysics and Gravity Measurements
- Indoor and Outdoor Localization Technologies
- Planetary Science and Exploration
- Satellite Communication Systems
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2014-2024
University of Lübeck
2011
In this work a calibration method which is easy to use and capable of calibrating combination magnetometer an accelerometer described. The accounts for hard soft iron effects created by the platform, sensor errors like biases, scale factors non-orthogonalities as well relative orientation between accelerometer. algorithm based on least squares problem, solved using singular value decomposition. During process spatial platform not needed. Therefore no additional hardware required....
The project City-ATM, launched by the German Aerospace Center DLR in 2018, aims to integrate new airspace users, such as unmanned aerial vehicles, into uncontrolled airspace. An air traffic management and flow control concept were developed. phase 1 demonstration 2019 showed a bridge inspection featuring, amongst other elements, flight of several drones limited area, beyond visual line sight operation, strategic planning considering geo-fences, tactical conflict detection. To enrich base...
With increasing automation of unmanned aircraft and the endeavor to fly between buildings in cities other occluded areas, safe navigation is essentially required but still a challenge. This paper about important issue vehicle positioning case satellite signal dropouts, it presents visual odometry method compensate GPS interruptions. The presented approach follows common triangulation principles nonlinear optimization methods. Absolute scale obtained by stereo camera, although only from time...
This paper explores the state estimation problem for an autonomous precise landing approach on celestial bodies. As part of project "Autonomous Terrain-based Optical Navigation" (ATON) German Aerospace Center (DLR) this describes central algorithm. algorithm combines high rate inertial navigation with low sensor fusion. The description includes software architecture developed system and estimator, which is based Unscented Kalman Filter (UKF). UKF equations are presented as well specific...
This paper presents the application of a rotary wing Unmanned Aerial Vehicle (UAV) as testbed for optical navigation system developed in project "Autonomous Terrain-based Optical Navigation" (ATON) German Aerospace Center (DLR). Since using sensor data systems exploration missions is promising technology, many projects have focused on development such systems. To allow autonomous operation these technologies targeted environment extensive testing necessary achieving an appropriate grade...
In this paper we present an approach to combine error state estimation with total monocular simultaneous localization and mapping (SLAM) in a single Unscented Kalman Filter (UKF). The map features use the inverse depth parametrization for undelayed initialization ability low-parallax unknown information. Furthermore, new feature method is presented using transform (UT). This allows capture all correlations between variables without necessity calculate any Jacobian matrices.
This paper presents an approach on how to integrate pan-tilt camera systems into the state estimation of unmanned aircraft introduce additional source navigation data. The proposed algorithm based Unscented Kalman Filter is presented with augmentation measurement model cope for uncertainties introduced by unit system. Furthermore, correlation visual measurements due common pan and tilt axes system addressed. Second, advantages using actively controlled in context landmark-based are shown....