A Navigation and Mapping Method for UAS during Under-the-Canopy Forest Operations
Published in 2016 IEEE/ION Position, Location and Navigation Symposium (PLANS), 2016
This paper presents the preliminary design and implementation of a Simultaneous Navigation and Mapping (SNAM) method for multi-copter UAS operating under forest canopy where GNSS signals are unreliable. A 3DR hexacopter platform was equipped with multiple 2D laser scanners, cameras, GNSS, and an IMU running on ROS. The hierarchical GNC framework uses a tightly-coupled GNSS/INS estimator when satellites are available, and falls back on ICP-based scan matching with IMU aiding in degraded conditions. Dual laser scanners (forward and downward-slanted) provide terrain-referenced altitude estimation and 3D tree mapping. Flight tests in a temperate Ohio forest demonstrated successful 3D position/attitude estimation and 2D tree map generation under challenging multipath and foliage conditions.
Recommended citation: Schultz, A., Gilabert, R., Bharadwaj, A., Uijt de Haag, M., & Zhu, Z. (2016). "A Navigation and Mapping Method for UAS during Under-the-Canopy Forest Operations." 2016 IEEE/ION Position, Location and Navigation Symposium (PLANS). Savannah, GA. pp. 739-746. doi:10.1109/PLANS.2016.7479768
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