A quadrotor sensor platform

摘要: Abstract : The Global Positioning System (GPS) has become the de facto standard for precision navigation many applications. However, line-of-sight signals required by GPS receiver are not always accessible in a cluttered environment, such as mountainous terrain or an urban setting. In addition, satellite operate at low power level making susceptible to interference and jamming. Scenarios these require alternate means of providing high accuracy. To that end, Avionics Engineering Center (AEC) Ohio University (OU) begun investigate ability scanning laser range finder, LADAR, augment GPS. One scenario under consideration is small unmanned aerial vehicle (UAV) which been navigating using but then descends into city next phase its mission. Inside this "urban canyon," access blocked towering buildings maintain precise positioning. A tactical grade inertial system (INS) would satisfy requirement, cost prohibitive system. Instead, line LADAR updates vehicle's position attitude data collected from planar surfaces. quadrotor sensor platform especially well suited since itself can be used "gimbal" sensor. other words, rolling pitching motions, either commanded incidental, will generate multiple scans across each flat surface. minimum three separate surface obtain three-dimensional solution, possible without some gimbaling LADAR.