Expansion of the NAVKArine for the use of a UAV in buildings
The flight control Navkarine FC-4 was enhanced by a camera component in a R & D project with Daimler, Sindelfingen, specifically for UAVs in indoor scenarios, eg in factory buildings. Based on image markers or visual odometry (VO) from continuous stereomatching of the environment, the navigation is supported by ITRF-consistent position information or with speed and rotation rate observations from VO.
A seamless indoor-outdoor navigation was made possible by recording and georeferencing the hall and image markers using GNSS / TPS measurements and photogrammetry. A 3D hall model was created in the ETRF89 (ITRF reference).
In summary, the hardware of the Navkarine FC-4 consists of a microcontroller-based flight navigation and the multisensor navigation unit. The latter fuses the data of MEMS sensors (acceleration triads, gyroscope triads, magnetometers, barometers), GNSS (outdoor) and cameras and derives from them the current navigation state vector (position, speed, acceleration, orientation).According to tests by flights with remote-cotrol the automated indoor flight of the UAS in the hall is currently being implemented on this basis.