小型UAV搭載レーザスキャナによる災害環境の高精度三次元計測

―6個のGNSS受信機とIMU複合による高精度姿勢推定―

抄録

This paper describes a precise attitude estimation method for a 3D measurement system using LiDAR on a small unmanned aerial vehicle (UAV). Recently, the use of small UAVs becomes widespread in 3D measurements because small UAVs are highly useful. In 3D measurement using LiDAR, the precise attitude of the UAV is necessary because attitude estimation errors influence the 3D measurement accuracy. However, it is difficult to estimate the attitude of small UAVs because they are too small to be equipped with large and precise inertial measurement unit (IMU). Therefore, we proposed a method using six global navigation satellite systems (GNSS) receivers and a low-cost and light-weight IMU to estimate the precise attitude. The method combines Euler angles calculated statistically using six GNSS receivers with angular velocities measured by the IMU. As a result of evaluation, the proposed method is effective on improvement of the attitude estimation accuracy.