Indoor positioning methods for small autonomous vehicles

The estimation of their position by unmanned vehicles is crucial for successful reconnaissance, procurement and rescue missions in autonomous mode. Determining goals and mission checkpoints allows the platform operator, and also the decision-making algorithms, to take appropriate actions. The paper presents popular positioning methods in spaces where GNSS navigation signal is not available. The potential of using such technologies as UWB, US, INS or SLAM algorithms based on readings from LiDARs or cameras is discussed in the context of small land platforms that can perform specific tasks in an automated manner. The paper also discusses the solutions described in detail in the cited literature related to the subject of data fusion from various types of sensors, which ensures greater accuracy and reliability of the readings obtained.

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Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).