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Navigation of UAV in GNSS denied area
Pintér, Marco ; Marcoň, Petr
This paper examines the concept of navigation of of Unmanned aerial vehicle (UAV) in three-dimensional space using visual odometry. In the near future navigation of the UAV without GNSS is becoming a critical part of autonomous navigation systems, using information from on-board cameras to estimate the UAV’s movement and position. In the paper, different types of visual odometry, sensors for visual odometry, components of the implementation, and scenarios of usage. For the development and future application we utilize widely used Robotic Operating System (ROS).
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Visual-inertial odometry for UAV stabilization
Pintér, Marco ; Janoušek, Jiří (oponent) ; Marcoň, Petr (vedoucí práce)
This master's thesis deals with the development of a system for estimating the position of an unmanned aerial vehicle in space without using GNSS (Global navigation satellite system). Visual and inertial data are employed for the position estimation of the unmanned aerial vehicle in space. The thesis describes various methods of determining the position using visual and inertial odometry. In the subsequent part of the thesis, the selection of a suitable camera sensor and onboard computer is discussed. The choice of an appropriate operating system, ROS (Robot Operating System) distribution, and a suitable algorithm for processing visual and inertial data is also described. To acquire telemetry data and basic control of an unmanned vehicle in space, a ROS node was implemented, which was tested in the Gazebo simulation environment with PX4-SITL. With the designed system experiments of comparing the accuracy of position determination against GNSS was done in real enviroment. From the achieved results, it can be concluded that visual odometry achieves very good results compared to GNSS.
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Drone localization and navigation in a familiar environment without GNSS
Pintér, Marco ; Janoušek, Jiří (oponent) ; Raichl, Petr (vedoucí práce)
This thesis is aimed at development of the localization system without using GNSS. The first part describes technologies, enable determination of position in the area. Methods for determining distance between transmitter and receiver are also described. In the next part of the thesis describes ROS communication form with flight controller PixHawk. On the basis of the acquired knowledge is described choosage of preferred technology and method of determination of the distance between transmitter and receiver.
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Positioning without using GNSS
Pintér, Marco ; Raichl, Petr
This thesis is aimed at the development of the localization system without using GNSS. The first part describes technologies, which can be used for localization of robots in known environment.Then positioning system based on UWB technology is designed. Additionally, localization system based on DWM1000 is designed and tested.
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Drone localization and navigation in a familiar environment without GNSS
Pintér, Marco ; Janoušek, Jiří (oponent) ; Raichl, Petr (vedoucí práce)
This thesis is aimed at development of the localization system without using GNSS. The first part describes technologies, enable determination of position in the area. Methods for determining distance between transmitter and receiver are also described. In the next part of the thesis describes ROS communication form with flight controller PixHawk. On the basis of the acquired knowledge is described choosage of preferred technology and method of determination of the distance between transmitter and receiver.
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