Robust Localization based on Integration of Position Information from Subsidiary UAVs

Abstract

In order to realize automatic inspection for infrastructure facilities using Unmanned Aerial Vehicles(UAVs), improvement robust localization of UAVs is needed. Especially, automatic flight could not be work in environments near facilities such as under the bridges. In this research, localization method is studied based on integration of position information gathering from subsidiary UAVs located in the surroundings of a main UAV. In this paper, as the first stage of this study, probabilistic position estimation model of subsidiary UAVs is modeled and integrated based on joint probability. By simulations with the models, influences of both position estimation errors of subsidiary UAVs and measurement errors of relative position are considered.