Abstract
In this paper, we present a practical autonomous navigation system based on the visual-inertial of a quadrotor. Due to the practical engineering requirement of improving the applicability of the advanced visual-inertial navigation fusion algorithm and 3D mapping algorithm, we realize the on-line 3D trajectory planning and tracking control algorithm with full consideration of UAV dynamics design, and finally complete the quadrotor autonomous navigation system consisting of UAV, upper computer and other software and hardware components. The feasibility is verified by actual flight experiments. The results show that the quadrotor autonomous navigation system can achieve high-precision positioning, online 3D reconstruction and dynamic autonomous navigation in a complex unknown environment without GPS. The system has good accuracy and robustness in real-time, which provides a strong technical support for the subsequent expansion of platform function.
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Acknowledgement
This work is supported in part by the National Natural Science Foundation of China under grant (No. 61973055), the Fundamental Research Funds for the Central Universities (No. ZYGX2019J062), and a grant from the applied basic research programs of Sichuan province (No. 2019YJ0206).
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Zhao, S., Li, R., Shi, Y., Li, H. (2021). An Autonomous Visual-Inertial-Based Navigation System for Quadrotor. In: Jia, Y., Zhang, W., Fu, Y. (eds) Proceedings of 2020 Chinese Intelligent Systems Conference. CISC 2020. Lecture Notes in Electrical Engineering, vol 706. Springer, Singapore. https://doi.org/10.1007/978-981-15-8458-9_43
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DOI: https://doi.org/10.1007/978-981-15-8458-9_43
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