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Mav Localization In Gps-Denied Environments And Synthetic Data Collection In Challenging Simulated Conditions, Julio A. Reyes Munoz
Mav Localization In Gps-Denied Environments And Synthetic Data Collection In Challenging Simulated Conditions, Julio A. Reyes Munoz
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The development of unmanned aerial systems presents an opportunity for conducting industrial inspections in environments where traditional navigation systems, such as the Global Navigation Satellite System (GNSS), are compromised. This dissertation investigates the implementation of a micro aerial vehicle (MAV) capable of autonomous data acquisition in complex, GNSS-degraded industrial settings. The primary challenge addressed is the robust localization of MAVs, a critical aspect in ensuring reliable operation under varying and uncertain environmental conditions.
The work is divided into two main parts. The first part focuses on the design and integration of a MAV system specifically for power plant inspections in …