This paper presents a radar approach to navigation of small and micro Unmanned Aerial Vehicles (UAV) in environments challenging for common sensors. A technique based on radar odometry is briefly explained and schemes for complete integration with other sensors are proposed. The focus of the paper is set on ultralight radars and interpretation of outputs of such sensor when dealing with autonomous navigation in complex scenario. The experimental setup used to analyse the proposed approach comprises one multi-rotor UAV and one ultralight commercial radar. Results from flight tests in which both forward-only motion and mixed motion are presented and analysed, providing a reference for understanding outputs of radar in complex scenarios. The radar odometry solution is compared with ground truth provided by GPS sensor.
ULTRALIGHT RADAR FOR SMALL AND MICRO-UAV NAVIGATION / Scannapieco, ANTONIO FULVIO; Renga, Alfredo; Fasano, Giancarmine; Moccia, Antonio. - In: INTERNATIONAL ARCHIVES OF THE PHOTOGRAMMETRY, REMOTE SENSING AND SPATIAL INFORMATION SCIENCES. - ISSN 2194-9034. - XLII-2/W6:(2017), pp. 333-338. (Intervento presentato al convegno 4th International Conference on Unmanned Aerial Vehicles in Geomatics, UAV-g 2017 tenutosi a Bonn, Germany nel 4-7 Settembre) [10.5194/isprs-archives-XLII-2-W6-333-2017].
ULTRALIGHT RADAR FOR SMALL AND MICRO-UAV NAVIGATION
SCANNAPIECO, ANTONIO FULVIO;RENGA, ALFREDO;FASANO, GIANCARMINE;MOCCIA, ANTONIO
2017
Abstract
This paper presents a radar approach to navigation of small and micro Unmanned Aerial Vehicles (UAV) in environments challenging for common sensors. A technique based on radar odometry is briefly explained and schemes for complete integration with other sensors are proposed. The focus of the paper is set on ultralight radars and interpretation of outputs of such sensor when dealing with autonomous navigation in complex scenario. The experimental setup used to analyse the proposed approach comprises one multi-rotor UAV and one ultralight commercial radar. Results from flight tests in which both forward-only motion and mixed motion are presented and analysed, providing a reference for understanding outputs of radar in complex scenarios. The radar odometry solution is compared with ground truth provided by GPS sensor.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
