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Erschienen in:
2007 | OriginalPaper | Buchkapitel
Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks
verfasst von : L. Merino, F. Caballero, P. Forssen, J. Wiklund, J. Ferruz, J. R. Martihez-de-Dios, A. Moe, K. Nordberg, A. Ollero
Erschienen in: Advances in Unmanned Aerial Vehicles
Verlag: Springer Netherlands
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The localization problem is usually solved in aerial robotics by means of GPS, Inertial Measurement Units (IMUs) and compass sensors, which are fused to provide UAV position estimation in a global frame. However, GPS estimates are often subject to inaccuracies and errors related to GPS failure or degradation. Also, GPS cannot be directly used for relative positioning of a UAV with respect to other objects, as for example for landing on mobile platforms or for wall following in building inspection.