| Presentation | 2018-08-09 [Invited Lecture] Precise UAV Position and Attitude Estimation using Multiple GNSS Receivers for 3D Mapping Taro Suzuki, Yoshiharu Amano, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Direct 3D mapping using a small UAV equipped with a laser scanner is required for many remote sensing applications. In direct 3D mapping, the precise position and attitude of the UAV are necessary to construct 3D maps. A small UAV has a payload limitation, thus dual-frequency GNSS receivers and high-grade IMUs are difficult to implement for 3D mapping. In this paper, we propose a precise position and attitude estimation techniques that employs multiple low-cost and light-weight GNSS antennas and receivers for small UAVs. Using the “redundancy” of multiple GNSS receivers, we can improve the position and attitude estimation accuracy in multipath environments, such as those located near buildings. We developed a prototype UAV equipped with 6 GNSS antennas and receivers. From the test results, we conclude that the proposed technique can improve the accuracy of the position and attitude estimation. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | UAV / GNSS / GPS / Position Estimation / Attitude Estimation / 3D Mapping |
| Paper # | SAT2018-31,RCS2018-134 |
| Date of Issue | 2018-08-02 (SAT, RCS) |
| Conference Information | |
| Committee | SAT / RCS |
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| Conference Date | 2018/8/9(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Iwate University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Wireless Communications, etc. |
| Chair | Hiroyuki Tsuji(NICT) / Tomoaki Otsuki(Keio Univ.) |
| Vice Chair | Hisashi Sujikai(NHK) / Fumihiro Yamashita(NTT) / Eisuke Fukuda(Fujitsu Labs.) / Satoshi Suyama(NTT DoCoMo) / Fumiaki Maehara(Waseda Univ.) |
| Secretary | Hisashi Sujikai(NTT) / Fumihiro Yamashita(NICT) / Eisuke Fukuda(Hokkaido Univ.) / Satoshi Suyama(NTT) / Fumiaki Maehara |
| Assistant | / Kazushi Muraoka(NTT DOCOMO) / Shinsuke Ibi(Osaka Univ.) / Hiroshi Nishimoto(Mitsubishi Electric) / Koichi Adachi(Univ. of Electro-Comm.) / Osamu Nakamura(Sharp) |
| Paper Information | |
| Registration To | Technical Committee on Satellite Telecommunications / Technical Committee on Radio Communication Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | [Invited Lecture] Precise UAV Position and Attitude Estimation using Multiple GNSS Receivers for 3D Mapping |
| Sub Title (in English) | |
| Keyword(1) | UAV |
| Keyword(2) | GNSS |
| Keyword(3) | GPS |
| Keyword(4) | Position Estimation |
| Keyword(5) | Attitude Estimation |
| Keyword(6) | 3D Mapping |
| 1st Author's Name | Taro Suzuki |
| 1st Author's Affiliation | Waseda University(Waseda Univ.) |
| 2nd Author's Name | Yoshiharu Amano |
| 2nd Author's Affiliation | Waseda University(Waseda Univ.) |
| Date | 2018-08-09 |
| Paper # | SAT2018-31,RCS2018-134 |
| Volume (vol) | vol.118 |
| Number (no) | SAT-176,RCS-177 |
| Page | pp.pp.17-20(SAT), pp.19-22(RCS), |
| #Pages | 4 |
| Date of Issue | 2018-08-02 (SAT, RCS) |