ESTIMATION OF AZIMUTH ANGLE OF UNMANNED AERIAL VEHICLE THAT OPERATES IN INDOOR ENVIRONMENT

摘要

A method for estimating the azimuth of an unmanned aerial vehicle (UAV) operating in an indoor environment is provided. The disclosed method comprises the steps of calculating an azimuth based on magnetic field measurement data received from a geomagnetic sensor of the UAV, determining the sensor based azimuth from the calculated azimuth and a preset error compensation value; detecting a predetermined characteristic of an indoor environment based on image data; determining an image-based azimuth from the detected predetermined characteristic; and updating the error compensation value based on the sensor-based azimuth and the image-based azimuth. includes