Evaluating the possibility of using UAV images’ external orientation elements to correct the strapdown INS readings

Aerophototopography (Aerial Surveying And Photogrammetry)

UDC:

528.7

DOI:

10.22389/0016-7126-2022-983-5-42-52

1 Makarov S.S.

2 Rentel A.V.

3 Chugunov I.P.

Year:

2022

№:

983

Pages:

42-52

Moscow State University of Geodesy and Cartography (MIIGAiK)

1,

Geodesy, ltd

2,

3,

Abstract:

There is a significant loss in the accuracy of determining the location of unmanned aerial vehicles (UAVs), due to the errors accumulated by the strapdown inertial navigation system (SINS) when it’s operating in offline mode in the conditions of loss or distortion of satellite navigation signals. A method for correcting SINS readings by external orientation elements of single frame aerial images determined on board the UAV by linear reference features is considered. The external orientation elements were determined using linear features in different combinations of their relative position and the results obtained were compared with the external orientation elements values determined from the phototriangulation adjustment within this experiment. The description of the mathematical methods, the results of experimental studies, the issues of increasing the accuracy and establishing the discreteness of determining the external orientation elements on board the UAV are given. The algorithm’s effectiveness was tested on aerial image of a built-up area. The suggested method showed the possibility of maintaining the accuracy of the SINS navigation solution installed on the board, when it operates offline at the level of a few meters. The article is for the specialists involved in solving tasks of autonomous navigation.

Keywords:

еlements of external orientation, reference linear features, strapdown inertial navigation system, unmanned aerial vehicle

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Citation:

Makarov S.S.,

Rentel A.V.,

Chugunov I.P.,

(2022) Evaluating the possibility of using UAV images’ external orientation elements to correct the strapdown INS readings. Geodesy and cartography = Geodezia i Kartografia, 83(5), pp. 42-52. (In Russian). DOI: 10.22389/0016-7126-2022-983-5-42-52