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:: Volume 3, Number 1 (9-2015) ::
Back to browse issues page JNSEE 2015, 3(1): 101-121
simulation of 3D inertia SLAM algorithm based on actual flight data for UAV
Mr Askar Azizi1, Mr Hamid Nourisola1, Mr Amin Saedghi-Emamgholi2 , Dr Amir Rikhtehgar-Giasi *
1- Faculty of Electrical and Computer Engineering
2- Aerospace Deparment
Associate Professor University Of Tabriz, Tabriz, East Azerbaijan, Faculty of Electrical and Computer Engineering , agiasi@tabrizu.ac.ir
Abstract:   (4259 Views)
In recent years, simultaneous localization and mapping (SLAM) has become a very challenging matter as a basic problem in the mobile robots navigation. This paper describes a new efficient inertial SLAM algorithm for a UAV or an airborne. This inertialSLAM could be properly applied to two different kinds of sensors: (i)Range/Bearing sensorsand (ii)Bearing-only sensors and so it does not need to any other external positioning systems like as GPS or any preprovided data. In this study, acomprehensive system has been presented which not only enhances the three-dimensional SLAM accuracy and performance, but overcomes the two fundamental problems that have less been noticed in previous researchesA) To consider all the degrees of freedom for the UAV that lets the UAV height changesbe usedin addition to two x and y directions. B) It does not experience any limit for the symbols status which means that the system is able to observe all the symbolsin different heights based on inertia sensors. Finally, the accuracy of proposed algorithm has been approved due to the simulation results using the actual aircraft flight data.
Keywords: UAV, Inertial navigation system, SLAM, EKF
Full-Text [PDF 525 kb]   (1977 Downloads)    
Type of Study: Research | Subject: Robotic
Received: 2015/02/16 | Accepted: 2015/07/23 | Published: 2015/10/10
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Azizi A, Nourisola H, Saedghi-Emamgholi A, Rikhtehgar-Giasi A. simulation of 3D inertia SLAM algorithm based on actual flight data for UAV . JNSEE. 2015; 3 (1) :101-121
URL: http://jnsee.sut.ac.ir/article-1-120-en.html
Back to browse issues page Volume 3, Number 1 (9-2015)
سامانه های غیرخطی در مهندسی برق Journal of Nonlinear Systems in Electrical Engineering
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