Analysis of sensor fusion solutions for UAV platfoms

Evaluation of Unmanned Aerial Vehicle (UAV) systems is mostly based on simulation tools that are manually configured to analyse the system output. In this work, the authors present an original method to evaluate the perfor-mance of UAV platform in real situations based on available data. The main innovation is an evaluation for designing sensor fusion parameters using real performance indicators of accuracy of navigation in UAVs based on PixHawk flight controller and peripherals. This platform allows physical integration of the main types of sensors in UAV domain, and at the same time the use of powerful simulation models developed with Gazebo. This methodology and selected performance indicators allows to select the best parameters for the fusion system of a determined configuration of sensors and a predefined real mission. Keywords— UAVs sensor fusion, EKF, Real Data Analysis,

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