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

IGNACIO MAS; MORENO PATRICIO; GIRIBET JUAN

Dallas

Conferencia; International Conference on Unmanned Aerial Systems; 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 perfor- mance 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.