Artículo
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
Autor/es | Benjumea Gayango, Diego Jesús
Alcántara Marín, Alfonso Ramos Hurtado, Agustín Torres González, Arturo Eugenio Sánchez Cuevas, Pedro Jesús Capitán Fernández, Jesús Heredia Benot, Guillermo Ollero Baturone, Aníbal |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2021-09 |
Fecha de depósito | 2022-09-23 |
Publicado en |
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Resumen | This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially
designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions,
such as relatively high ... This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude. |
Agencias financiadoras | European Commission (EC) Ministerio de Economia, Industria y Competitividad (MINECO). España |
Identificador del proyecto | H2020-MG-2017-769066
H2020-ICT-2019-2-871542 RTI2018-102224-B-I00 |
Cita | Benjumea Gayango, D.J., Alcántara Marín, A., Ramos Hurtado, A., Torres González, A.E., Sánchez Cuevas, P.J., Capitán Fernández, J.,...,Ollero Baturone, A. (2021). Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks. Sensors, 21 (17), 5937. |
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