Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
Navigation system for GPS-denied area is highly required. Information about depth can not be obtained correctly by a monocular camera so that ARToolkit, which is widely applied in Augmented Reality, is not enough for navigation system for UAV. This paper proposed a navigation method to integrate ARToolkit and inertial measurement unit. This paper shows that an analytic solution of both the worst and the best estimation of the yaw angle can be obtained with simple computations and it helps to remove outliers in measurements. From flight experiments, it was proved that position estimation using the proposed method corresponded reasonably but correction of the difference between the camera origin and the body's center of gravity was necessary.
