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Methodology for the Correction of the Spatial Orientation Angles of the Unmanned Aerial Vehicle Using Real Time GNSS, a Shoreline Image and an Electronic Navigational Chart
Abstract
Undoubtedly, Low-Altitude Unmanned Aerial Vehicles (UAVs) are becoming more common in marine applications. Equipped with a Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) receiver for highly accurate positioning, they perform camera and Light Detection and Ranging (LiDAR) measurements. Unfortunately, these measurements may still be subject to large errors-mainly due to the inaccuracy of measurement of the optical axis of the camera or LiDAR sensor. Usually, UAVs use a small and light Inertial Navigation System (INS) with an angle measurement error of up to 0.5 deg. (RMSE). The methodology for spatial orientation angle correction presented in the article allows the reduction of this error even to the level of 0.01 deg. (RMSE). It can be successfully used in coastal and port waters. To determine the corrections, only the Electronic Navigational Chart (ENC) and an image of the coastline are needed.
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Authors (6)
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Krzysztof Naus
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Piotr Szymak dr hab. inż
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Paweł Piskur
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Maciej Niedziela
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Details
- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
ENERGIES
no. 14,
ISSN: 1996-1073 - Language:
- English
- Publication year:
- 2021
- Bibliographic description:
- Naus K., Szymak P., Piskur P., Niedziela M., Nowak A.: Methodology for the Correction of the Spatial Orientation Angles of the Unmanned Aerial Vehicle Using Real Time GNSS, a Shoreline Image and an Electronic Navigational Chart// ENERGIES -Vol. 14,iss. 10 (2021), s.2810-
- DOI:
- Digital Object Identifier (open in new tab) 10.3390/en14102810
- Verified by:
- Gdańsk University of Technology
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