A Visual Cooperative Localization Method for Airborne Magnetic Surveying Based on a Manifold Sensor Fusion Algorithm Using Lie Groups
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909344236306432 |
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| author | Liu, Liang Hu, Xiao Jiang, Wei Meng, Guanglei Wang, Zhujun Zhang, Taining |
| author_facet | Liu, Liang Hu, Xiao Jiang, Wei Meng, Guanglei Wang, Zhujun Zhang, Taining |
| contents | Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying scenarios. To obtain clean magnetic measurements reflecting the Earth's magnetic field, the magnetic sensor must be isolated from other electronic devices, creating a significant localization challenge. We propose a visual cooperative localization solution. The solution incorporates a visual processing module and an improved manifold-based sensor fusion algorithm, delivering reliable and accurate positioning information. Real flight experiments validate the approach, demonstrating single-axis centimeter-level accuracy and decimeter-level overall 3D positioning accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_07700 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Visual Cooperative Localization Method for Airborne Magnetic Surveying Based on a Manifold Sensor Fusion Algorithm Using Lie Groups Liu, Liang Hu, Xiao Jiang, Wei Meng, Guanglei Wang, Zhujun Zhang, Taining Signal Processing Robotics Systems and Control Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying scenarios. To obtain clean magnetic measurements reflecting the Earth's magnetic field, the magnetic sensor must be isolated from other electronic devices, creating a significant localization challenge. We propose a visual cooperative localization solution. The solution incorporates a visual processing module and an improved manifold-based sensor fusion algorithm, delivering reliable and accurate positioning information. Real flight experiments validate the approach, demonstrating single-axis centimeter-level accuracy and decimeter-level overall 3D positioning accuracy. |
| title | A Visual Cooperative Localization Method for Airborne Magnetic Surveying Based on a Manifold Sensor Fusion Algorithm Using Lie Groups |
| topic | Signal Processing Robotics Systems and Control |
| url | https://arxiv.org/abs/2410.07700 |