Vision-based Integrated Navigation System and Optimal Allocation in Formation Flying

JUAN GIRIBET; IGNACIO MAS; PATRICIO MORENO

Dallas, TX

Conferencia; 2018 International Conference on Unmanned Aircraft Systems (ICUAS); 2018

This article proposes an integrated navigation system for multiple micro aerial vehicles flying in formation. A data fusion algorithm uses measurements from an inertial measurement unit, a GPS receiver, and a camera allowing to use the positioning information of the surrounding vehicles to improve its estimation. A measure of the navigation performance of the formation is defined. Based on such measure, the position where each vehicle should be located in the formation is studied to guarantee the best overall navigation quality.