Title: Improvement in the UAV position estimation with low-cost GPS, INS and vision-based system: Application to a quadrotor UAV,
Abstract: In this paper, we develop a position estimation system for Unmanned Aerial
Vehicles formed by hardware and software. It is based on low-cost devices: GPS,
commercial autopilot sensors and dense optical flow algorithm implemented in an
onboard microcomputer. Comparative tests were conducted using our approach and
the conventional one, where only fusion of GPS and inertial sensors are used.
Experiments were conducted using a quadrotor in two flying modes: hovering and
trajectory tracking in outdoor environments. Results demonstrate the
effectiveness of the proposed approach in comparison with the conventional
approaches presented in the vast majority of commercial drones.