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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

Author

Listed:
  • Krzysztof Naus

    (Institute of Electrical Engineering and Automatics, Polish Naval Academy, 81-000 Gdynia, Poland
    These authors contributed equally to this work.)

  • Piotr Szymak

    (Institute of Navigation and Hydrography, Polish Naval Academy, 81-000 Gdynia, Poland
    These authors contributed equally to this work.)

  • Paweł Piskur

    (Institute of Navigation and Hydrography, Polish Naval Academy, 81-000 Gdynia, Poland
    These authors contributed equally to this work.)

  • Maciej Niedziela

    (Institute of Mathematics, University of Zielona Góra, 65-417 Zielona Góra, Poland
    These authors contributed equally to this work.)

  • Aleksander Nowak

    (Department of Geodesy, Faculty of Civil and Environmental Engineering, Gdansk University of Technology, 80-233 Gdańsk, Poland
    These authors contributed equally to this work.)

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.

Suggested Citation

  • Krzysztof Naus & Piotr Szymak & Paweł Piskur & Maciej Niedziela & Aleksander Nowak, 2021. "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," Energies, MDPI, vol. 14(10), pages 1-24, May.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:10:p:2810-:d:554228
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    Cited by:

    1. Andrzej Stateczny & Cezary Specht & Mariusz Specht & David Brčić & Alen Jugović & Szymon Widźgowski & Marta Wiśniewska & Oktawia Lewicka, 2021. "Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys," Energies, MDPI, vol. 14(21), pages 1-19, November.
    2. Umar Iqbal & Ashraf Abosekeen & Jacques Georgy & Areejah Umar & Aboelmagd Noureldin & Michael J. Korenberg, 2021. "Implementation of Parallel Cascade Identification at Various Phases for Integrated Navigation System," Future Internet, MDPI, vol. 13(8), pages 1-17, July.
    3. Mariusz Specht & Cezary Specht & Andrzej Stateczny & Paweł Burdziakowski & Paweł Dąbrowski & Oktawia Lewicka, 2022. "Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements," Energies, MDPI, vol. 15(11), pages 1-17, June.

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