UAV群による構造物付近でのロバストな位置推定を目指したマルチパス空間検出と逐次経路計画

抄録

GNSS is widely utilized for positioning of UAVs. As the UAV executes missions in the vicinity of facilities, the robust GNSS-based positioning is a challenging problem. In the previous research, a cooperative positioning system consists of multiple UAVs was introduced to support the positioning of the UAV works near the facilities. However, multipath propagation of GNSS signal caused by the facilities will deteriorate the positioning quality of system. In this research, a real-time path planning method that dynamically plans the paths of the UAVs of cooperative positioning system is proposed, to lead the UAV to leave the area where multipath propagation is detected for a more accurate positioning, while the simulation of proposed method is conducted. From the results of simulation the effectiveness of proposed method is confirmed.