Laser Range Finder Aided Indoor Navigation for a Micro Aerial Vehicle

摘要

This paper presents a navigation system for Micro Aerial Vehicles in indoor environments aided by a laser range finder. The incorporation of relative pose measurements from laser Scan Matching in a Kalman filter is discussed. Therefore, different approaches are described and compared in a simulation study. An extension of the selected approach to handle delay in such measurements is presented. Subsequent analysis proves that the extended method is optimal in the sense that the delay does not reduce the estimation quality. Results from flight experiments confirm the feasibility and real-time capability of the selected methods.