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Indoor integrated navigation of micro aerial vehicle based on radar-scanner and inertial navigation system

KONG Tian-heng;FANG Zhou;LI Ping;Department of Control Science and Engineering,Zhejiang University;School of Aeronautics and Astronautics,Zhejiang University;  
This paper presents an indoor integrated navigation method for micro aerial vehicles based on radar-scanner and inertial navigation system(INS).We employ the DC simultaneous localization and mapping(SLAM) technique,which is actually an EKF-based SLAM algorithm,to meet the real-time requirements of the micro aerial vehicle(MAV) navigation.For the scan matching in state-update procedure,a heuristic logic is proposed to screen the radar data to deal with the strong perturbations on the map profile caused by the variations in attitude and height during the motion of MAV.We extract reasonable features from the map profile and use them in feature matching procedures.To improve the matching accuracy,we determine the guiding matching in pair-wise based on the result of scan matching and the transfer of feature matching.Finally,an integrated DC SLAM and INS navigation algorithm is implemented based on the extended Kalman filter.By comparing the indoor integrated navigation system with the typical global positioning system(GPS)/INS integrated navigation system,we find that the former is capable of providing desired real-time state estimations for MAV's flight control,which is further verified by an equipped quadrotor's indoor autonomous hover test.
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