HiPerGreen: Accurate UAS Flight inside a Greenhouse

HiPerGreen project

Auteurs
Mark Ramaker, Ton Boode, Cock Heemskerk en Lucien Fesselet
Lectoraat
Soort object
Workingpaper
Datum
2019
Samenvatting
This paper describes the concept of a new algorithm to control an Unmanned Aerial System (UAS) for accurate autonomous indoor flight. Inside a greenhouse, Global Positioning System (GPS) signals are not reliable and not accurate enough. As an alternative, Ultra Wide Band (UWB) is used for localization. The noise is compensated by combining the UWB with the delta position signal from a novel optical flow algorithm through a Kalman Filter (KF). The end result is an accurate and stable position signal with low noise and low drift.