Image based augmentation of an autonomous VTOL-MAV

摘要

In this paper, the development of a vision based system for a small-scale VTOL-MAV is presented. The on-board GPS/INS navigation system is augmented by further sensors in order to allow for an autonomous waypoint mode. Especially in urban environments the GPS signal quality is disturbed by shading and multipath propagation. The investigated vision system based on algorithms analyzing the optical flow is essential to enable the helicopter to reliably hover even in these scenarios. Due to the integration of the vision based navigation information into the navigation filter, GPS signal outages can be bridged. The necessary height above ground information is estimated from the relative altitude change given by the barometric altimeter and the optical flow.