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

Krzysztof Naus, Piotr Szymak, Paweł Piskur, Maciej Niedziela and Aleksander Nowak
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Krzysztof Naus: Institute of Electrical Engineering and Automatics, Polish Naval Academy, 81-000 Gdynia, Poland
Piotr Szymak: Institute of Navigation and Hydrography, Polish Naval Academy, 81-000 Gdynia, Poland
Paweł Piskur: Institute of Navigation and Hydrography, Polish Naval Academy, 81-000 Gdynia, Poland
Maciej Niedziela: Institute of Mathematics, University of Zielona Góra, 65-417 Zielona Góra, Poland
Aleksander Nowak: Department of Geodesy, Faculty of Civil and Environmental Engineering, Gdansk University of Technology, 80-233 Gdańsk, Poland

Energies, 2021, vol. 14, issue 10, 1-24

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 ∘ (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 ∘ (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.

Keywords: Unmanned Aerial Vehicle; spatial orientation angles; electronic navigational chart; shoreline; matching images (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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