Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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SLAM Aided GPS/INS/Vision Navigation System for Helicopter

SLAM 기반 GPS/INS/영상센서를 결합한 헬리콥터 항법시스템의 구성

  • 김재형 (대한항공 한국항공기술연구원) ;
  • 유준 (충남대학교 전자공학과) ;
  • 곽휘권 (충남대학교 전자공학과)
  • Published : 2008.08.01
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Abstract

This paper presents a framework for GPS/INS/Vision based navigation system of helicopters. GPS/INS coupled algorithm has weak points such as GPS blockage and jamming, while the helicopter is a speedy and high dynamical vehicle amenable to lose the GPS signal. In case of the vision sensor, it is not affected by signal jamming and also navigation error is not accumulated. So, we have implemented an GPS/INS/Vision aided navigation system providing the robust localization suitable for helicopters operating in various environments. The core algorithm is the vision based simultaneous localization and mapping (SLAM) technique. For the verification of the SLAM algorithm, we performed flight tests. From the tests, we confirm the developed system is robust enough under the GPS blockage. The system design, software algorithm, and flight test results are described.

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