| A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments |
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| 作者姓名： | Hongming SHEN Qun ZONG Hanchen LU Xuewei ZHANG Bailing TIAN Lei HE |
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| 作者单位： | School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;Institute of Field Engineering,Army Engineering University of PLA,Nanjing 210007,China |
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| 基金项目： | supported by the National Key Research and Development Program of China (No. 2018AAA0102401)；;the National Natural Science Foundation of China (Nos. 62022060, 61773278, 61873340)； |
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| 摘 要： | In this paper, we present a distributed framework for the lidar-based relative state estimator which achieves highly accurate, real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs) in GPS-denied environments. The system builds atop a factor graph, and only onboard sensors and computing power are utilized. Benefiting from the keyframe strategy, each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data. The com...
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| 收稿时间： | 17 November 2020 |
A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments |
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| Hongming SHEN,Qun ZONG,Hanchen LU,Xuewei ZHANG,Bailing TIAN,Lei HE.A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments[J].Chinese Journal of Aeronautics,2022,35(1):59-69. |
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| Authors: | Hongming SHEN Qun ZONG Hanchen LU Xuewei ZHANG Bailing TIAN Lei HE |
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| Institution: | 1. School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China;2. Institute of Field Engineering, Army Engineering University of PLA, Nanjing 210007, China |
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| Abstract: | In this paper,we present a distributed framework for the lidar-based relative state esti-mator which achieves highly accurate,real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs)in GPS-denied environments.The system builds atop a factor graph,and only on-board sensors and computing power are utilized.Benefiting from the keyframe strategy,each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data.The complete system runs in real-time and is evaluated with three experiments in different environments.Experimental results show that the proposed distributed approach offers comparable performance with a centralized method in terms of accuracy and real-time perfor-mance.The flight test demonstrates that the proposed relative state estimation framework is able to be used for aggressive flights over 5 m/s. |
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| Keywords: | Distributed relative state estimation GPS-denied environments Lidar-based perception Multi-UAV system Pose-graph optimization |
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