UAV navigation using EKF-MonoSLAM aided by range-to-base measurements
This study introduces an innovative refinement to EKF-based monocular SLAM by incorporating attitude, altitude, and range-to-base data to enhance system observability and minimize drift. In particular, by utilizing a single range measurement relative to a fixed reference point, the method enables un...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2025 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/446340 |
| Acesso em linha: | https://hdl.handle.net/2117/446340 https://dx.doi.org/10.3390/drones9080570 |
| Access Level: | acceso abierto |
| Palavra-chave: | UAVs SLAM EKF Monocular-based GPS-denied Range-to-base Observability Àrees temàtiques de la UPC::Aeronàutica i espai::Sistemes CNS/ATM (Communication, Navigation, Surveillance/Air Traffic Management) |
| Resumo: | This study introduces an innovative refinement to EKF-based monocular SLAM by incorporating attitude, altitude, and range-to-base data to enhance system observability and minimize drift. In particular, by utilizing a single range measurement relative to a fixed reference point, the method enables unmanned aerial vehicles (UAVs) to mitigate error accumulation, preserve map consistency, and operate reliably in environments without GPS. This integration facilitates sustained autonomous navigation with estimation error remaining bounded over extended trajectories. Theoretical validation is provided through a nonlinear observability analysis, highlighting the general benefits of integrating range data into the SLAM framework. The system’s performance is evaluated through both virtual experiments and real-world flight data. The real-data experiments confirm the practical relevance of the approach and its ability to improve estimation accuracy in realistic scenarios. |
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