Article (Scientific journals)
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
Benjumea, Diego; Alcántara, Alfonso; Ramos, Agustin et al.
2021In Sensors, 21 (17 5937)
Peer reviewed
 

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Abstract :
[en] This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high altitude (e.g., 15 m), eventually with poor or absent GNSS (Global Navigation Satellite System) signal reception, or the need for a BVLOS (Beyond Visual Line of Sight) operation in some periods. In addition, these infrastructure inspection applications impose the following requirements for the localization system: defect traceability, accuracy, reliability, and fault tolerance. Our system proposes a lightweight solution combining multiple stereo cameras with a robotic total station to comply with these requirements, providing full-state estimation (i.e., position, orientation, and linear and angular velocities) in a fixed and time-persistent reference frame. Moreover, the system can align and fuse all sensor measurements in real-time at high frequency. We have integrated this localization system in our aerial platform, and we have tested its performance for inspection in a real-world viaduct scenario, where the UAV has to operate with poor or absent GNSS signal at high altitude.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Benjumea, Diego
Alcántara, Alfonso
Ramos, Agustin
Torres-Gonzalez, Arturo
Sanchez Cuevas, Pedro Jesus ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Capitan, Jesus
Heredia, Guillermo
Ollero, Anibal
External co-authors :
yes
Language :
English
Title :
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
Publication date :
2021
Journal title :
Sensors
ISSN :
1424-8220
Volume :
21
Issue :
17 5937
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 24 November 2021

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