Real-Time Evaluation Method and Implementation of Multi-sensor Dynamic Ranging Capability for UAV

Chenyi Wang, Yuan Yao, Wenliang Wu, Chen Yang, Kaiqi Zhang, Kai Kou, Gang Yang, Xingshe Zhou, Bo Shen

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

UAVs need to use a large number of sensors to complete autonomous navigation tasks in indoor environments. The evaluation of multi-sensors ranging capabilities in different application scenarios is an important research direction at present. This paper analyzes three main factors (light intensity, distance, target material) affecting the ranging capability of three sensors (depth camera D435i, binocular camera T265, and lidar Rplidar A1). To quantify the ranging capability of sensors in different application scenarios, the concept of dynamic ranging capability index (DRCI) is proposed in this study, which mainly depends on ranging accuracy. DRCI is a fuzzy evaluation index. The higher DRCI value, the stronger ranging capability. Through the analysis of a large number of experimental data, we establish the DRCI calculation method. This paper uses three sensors for a ranging task while calculating DRCI by the method in Airsim simulation scenarios and real scenarios. Finally, the real-time changes in the ranging capability of multi-sensors can be effectively evaluated by the method, and the results in simulation scenarios are validated in real scenarios.

源语言英语
主期刊名Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
编辑Wenxing Fu, Mancang Gu, Yifeng Niu
出版商Springer Science and Business Media Deutschland GmbH
878-890
页数13
ISBN(印刷版)9789819904785
DOI
出版状态已出版 - 2023
活动International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, 中国
期限: 23 9月 202225 9月 2022

出版系列

姓名Lecture Notes in Electrical Engineering
1010 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Autonomous Unmanned Systems, ICAUS 2022
国家/地区中国
Xi'an
时期23/09/2225/09/22

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