Localization Using Uniaxial Laser Rangefinder （本地化使用单轴激光测距仪）.pdf

Localization using uniaxial laser rangefinder and IMU for MAV Kohei Ito and Justin Han and Akihisa Ohya Abstract— In this paper we describe a localization method rangefinder, the main sources of the weight are the optical based on an inertial measurement unit (IMU) and a uniaxial system and the scanning mechanism. While the optical laser rangefinder suitable for use on a micro aerial vehicle system cannot be removed, if the rotation mechanism is (MAV). Because it is not possible to obtain the surrounding conditions all at once using the uniaxial rangefinder, it is removed, it can still be used as a rangefinder. In consid- necessary to determine the position in the environment in terms ering weight reduction, for the time being, uniaxial laser of the MAV’s own movements. We demonstrated our method rangefinders, that are unable to rotate and can only scan in experimentally on a Quadrotor multicopter flying in a wide one direction, seem to be promising. The meaning of uniaxial area enclosed by pillars. is that an optical axis direction is fixed for the main body I. INTRODUCTION of sensor. The authors investigated various uniaxial laser sensors with respect to the performance of Hokuyo’s Top In recent years, research on micro aerial vehicles (MAV) URG sensor. The main sensors considered are compared in has become more popular. Exploration in GPS-denied en- TABLE I. I vironments such as indoor areas is one such