碩士 / 國立成功大學 / 民航研究所 / 102 / The development of micro aerial vehicle (MAV) has become a popular skillful work to turn into useful tool in many applications. The autonomous flight navigation in different environment is necessary. In devastating disaster, the terrain feature has changed. It is not easy to design a navigation system guild a MAV fly autonomously. Especially this area doesn’t have available map and usable radio beacons. The development focuses on the problem system to build a map and localize at same time, known Simultaneous Localization and Mapping (SLAM). Because of the drawback of existing GPS, a real-time navigation system is designed in this thesis based on visual SLAM and sensor fusion. In visual SLAM, an innovative visual odometry is introduced to overcome high frequency image and texture-less environment. It also can estimate translation and rotation of MAV. Besides, only monocular camera cannot recover true scale in real world. The proposed visual SLAM needs a modular multi-sensor fusion extend Kalman filter (MSF-EKF) to derive to real world and calibrate the frame in real-time. Moreover, a quad-rotor UAV is used to carry an embedded computer to verify the proposed navigation mechanism. The test result proves the proposed system can calculate navigation message in specific environment to satisfy the visual SLAM requirements.
| Identifer | oai:union.ndltd.org:TW/102NCKU5294009 |
| Date | January 2014 |
| Creators | Da-FengHuang, 黃大峯 |
| Contributors | Chin E. Lin, 林清一 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 56 |
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