UAV inspection of large components: indoor navigation relative to structures

  • The inspection of large structures is increasingly carried out with the help of Unmanned Aerial Vehicles (UAVs). When navigating relative to the structure, multiple data sources can be used to determine the position of the UAV. Examples include track data from an installed camera and sensor data from the orientation sensors of the UAV. This paper deals with the fusion of this data and its use for navigation alongside the structure. For the sensor fusion, a concept is developed using a Kalman filter and evaluated simulatively in a prototype. The calculated position data are also fed into a vector flight control system, which dynamically calculates and flies a trajectory along the component using the potential field method. This is done taking into account obstacles detected by the onboard sensors of the UAV. The established concept is then implemented with the Robot Operating System (ROS) and evaluated simulatively.

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Author:Martin SchörnerORCiDGND, Michelle Bettendorf, Constantin WanningerORCiDGND, Alwin HoffmannORCiDGND, Wolfgang ReifORCiDGND
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Parent Title (English):Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO, July 6-8, 2021
Place of publication:Setúbal
Editor:Oleg Gusikhin, Henk Nijmeijer, Kurosh Madani
Type:Part of a Book
Year of first Publication:2021
Publishing Institution:Universität Augsburg
Release Date:2022/08/22
First Page:179
Last Page:186
Institutes:Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Fakultät für Angewandte Informatik / Institut für Software & Systems Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik / Lehrstuhl für Softwaretechnik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):CC-BY-NC-ND 4.0: Creative Commons: Namensnennung - Nicht kommerziell - Keine Bearbeitung (mit Print on Demand)