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UID:0-68@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20221116T133000

DTEND;TZID=Asia/Jerusalem:20221116T143000

DTSTAMP:20221116T081119Z

URL:https://aerospace.technion.ac.il/events/terrain-aided-recovery-of-a-mu
 ltirotor-using-laser-range-finders-in-a-satellite-navigation-deprived-envi
 ronment/

SUMMARY:Terrain Aided Recovery of a Multirotor Using Laser Range-Finders in
  a Satellite-Navigation Deprived Environment
DESCRIPTION:Lecturer:Stanislav Shougaev\n Faculty:Department of Aerospace E
 ngineering\n Institute:Technion – Israel Institute of Technology\n Locat
 ion:Classroom 165\, ground floor\, Library\, Aerospace Engineering\n Zoom:
  https://technion.zoom.us/j/6508255931\n Abstract: Unmanned aerial vehicle
 s rely predominantly on external signal reception for navigation. This inc
 ludes both satellite navigation (GNSS) and guidance through remote control
  channels. In case of a signal loss\, a recovery logic is needed to naviga
 te the vehicle back to its base until normal operation is regained. Such s
 ystems commonly require pre-installed local maps of the flight area or ric
 h-information sensors like LIDARs and cameras. \n\nOur work examines a rec
 overy logic for a multirotor based on several Body-Fixed Laser Range-Finde
 rs (BF-LRFs) and an inertial measurement unit (INS) without a pre-installe
 d map\, hence providing a simple\, low-cost recovery solution. BF-LRFs wer
 e shown to perform well for Terrain Following for single UAVs and multirot
 or slung load applications. To facilitate the recovery\, a terrain map alo
 ng the flight trajectory can be constructed during the normal GNSS operati
 on when an accurate navigation solution is available using the BF-LRFs as 
 terrain sampling sensors. In case of GNSS signal loss\, the accumulated ma
 p\, together with an INS and the BF-LRFs measurements\, are used for a ter
 rain-aided navigation type solution to navigate the vehicle back to its ba
 se. Along with the recovery system\, a BF-LRF based obstacle avoidance sol
 ution is examined both separately from the recovery system and combined. T
 he recovery logic was tested in a realistic six-degrees-of-freedom simulat
 ion using a real terrain map. The simulations evaluated the recovery and t
 he obstacle avoidance systems in several different LRF configurations and 
 flight paths\, showing promising results.\n\n&nbsp\;\n Details: \n 
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Engineering

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DTSTART:20221030T010000

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