複数のGNSSアンテナを用いた小型UAVのリアルタイム位置姿勢推定

抄録

This paper describes a real-time position and attitude estimation technique using multiple global navigation satellite system (GNSS) receivers and antennas on a small unmanned aerial vehicle (UAV). At disaster sites, a rapid 3D measurement is highly required. However, in the previous research, it takes time to generate 3D map because the computation process after a flight of the UAV is needed. In addition, in the previous research, it needs 6 position calculations to estimate UAV positions, and it needs 30 position calculations to calculate baseline vectors between 6 antennas to estimate the UAV attitude. Accordingly, it is difficult to estimate the position and attitude using onboard computer in real-time. Therefore, we propose a method using 6 GNSS antenna positions to estimate the UAV attitude. The proposed method can reduce position calculations from 36 to 6. By using the proposed method, we achieved the real-time position and attitude estimation within 0.1 s delay time.