Estudio comparativo de sensores durante navegación por waypoints en cuadricóptero

Moisés Torres-Rivera; Iván Enrique Olvera-Blas; Alejandra Ramón-Mendoza; Ana Sofía Olivera-Barcenas; Goretti Ramírez-Villa; Rosa Isela Martin-Felipe

doi:10.29057/icbi.v11iEspecial4.11402

Authors

Moisés Torres-Rivera Universidad Aeronáutica en Querétaro https://orcid.org/0000-0001-6668-2903
Iván Enrique Olvera-Blas Universidad Aeronáutica en Querétaro https://orcid.org/0009-0005-7447-8976
Alejandra Ramón-Mendoza Universidad Aeronáutica en Querétaro https://orcid.org/0009-0003-4489-1722
Ana Sofía Olivera-Barcenas Universidad Aeronáutica en Querétaro https://orcid.org/0009-0000-6403-5286
Goretti Ramírez-Villa Universidad Aeronáutica en Querétaro https://orcid.org/0000-0003-3442-8294
Rosa Isela Martin-Felipe Universidad Aeronáutica en Querétaro https://orcid.org/0009-0007-7677-1708

DOI:

https://doi.org/10.29057/icbi.v11iEspecial4.11402

Keywords:

Optical flow, quadcopter, inertial sensors, autonomous navigation, waypoints

Abstract

In flights with GPS the position of the UAV on the ground is obtained directly by the receiver which facilitates autonomous navigation. Not having an adequate signal of this sensor, mainly indoors, it is necessary to estimate the speed, distance and orientation with other types of devices such as vision systems that usually require high computational processing, or inertial systems in sensor fusion with optical flow sensors. Based on the above, a comparative analysis is proposed between the measurements obtained by the GPS, inertial sensor and optical flow sensor readings, during autonomous way-point tracking, thereby, laying the foundations for the implementation of a navigation system that uses sensor fusion and estimation of quadcopter position when GPS use is not possible.

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145

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Publisher: Universidad Autónoma del Estado de Hidalgo

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