Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper describes a real-time 3D measurement technique using multiple global navigation satellite system (GNSS) receivers and antennas on a small unmanned aerial vehicle (UAV). At disaster sites, rapid 3D measurement is highly required. However, in our previous research, it took time to generate a 3D map because the computation process after a flight of the UAV was needed. In addition, this technique needs 30 position calculations to estimate the UAV attitude. Accordingly, it is difficult to estimate the attitude using an onboard computer in real time. Therefore, we propose a method using six GNSS antenna positions to estimate the UAV attitude. Because the proposed method can reduce position calculations, it can be used for real-time UAV attitude estimation. Then in the proposed system, we use robot operating system (ROS) to build distributed system. By using the proposed system, we achieved real-time 3D measurement in 151.7 mm horizontal root mean square (RMS) error and 4.8 mm vertical RMS error.
