Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00361942" target="_blank" >RIV/68407700:21230/23:00361942 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.robot.2022.104315" target="_blank" >https://doi.org/10.1016/j.robot.2022.104315</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2022.104315" target="_blank" >10.1016/j.robot.2022.104315</a>

Result language

angličtina

Original language name

Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties

Original language description

A novel approach for robust Unmanned Aerial Vehicle (UAV) altitude estimation relying on laser measurements that is designed for use in complex indoor environments is proposed in this paper. Specifically, we aim to design a system with general usability inside multi-floor buildings. The multi-floor buildings are characterized by areas lacking distinct vertical geometric features to be used as reference by 3D Light Detection and Ranging (LiDAR) localization algorithms, and by areas with either flat floors or limited areas with inconsistent ground elevation. The proposed approach solves the problem of adaptive fusion of data from multiple sources with apriori-unknown confidence dependent on the current environmental properties. Whenever the environment contains enough geometric structure, altitude data from a 3D LiDAR-based Simultaneous Localization and Mapping (SLAM) algorithm are utilized. In environments that are too symmetrical for reliable SLAM operation, the approach relies mostly on measurements from a downward-facing 1D laser rangefinder, while simultaneously detecting inconsistent ground elevation areas. These measurements are fused with barometer data, Inertial Measurement Unit (IMU) data, and information from the UAV position controllers. Furthermore, our approach correctly handles the measurement delay caused by 3D LiDAR data processing that significantly differs from other sensor delays. The performance of the proposed approach has been validated in complex simulations and real-world experiments with the produced altitude estimate utilized in the control loop of the UAV. The proposed approach is released as open-source as part of the MRS UAV System.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Volume of the periodical

160

Issue of the periodical within the volume

February

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

15

Pages from-to

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UT code for WoS article

000903974100003

EID of the result in the Scopus database

2-s2.0-85143777961