FUSION OF MULTIPLE SENSOR FOR STABLE AUTONOMOUS FLIGHT WITH SMALL FLIGHT VEHICLE OF ROTOR BLADE TYPE (MAV) IN INDOOR ENVIRONMENT AND OUTDOOR ENVIRONMENT

摘要

PROBLEM TO BE SOLVED: To provide a system for a small flight vehicle of rotor blade type (MAV), capable of stably autonomously flying in an indoor environment and an outdoor environment.SOLUTION: A measurement value including a noise from a plurality of heterogeneous sensors generating an absolute or a relative observation value in different and changing time intervals each other is integrated by a processor 108, the plurality of heterogeneous sensors including: an IMU 112; a laser scanner 118; a stereo camera 122; a pressure head-end system 123; a magnetometer 116 and a GPS receiver 120. An assumption value which is globally and smoothly consistent in a real time for an autonomous flight is provided. An approach which can be expanded in a module type is included.SELECTED DRAWING: Figure 12