Publications / 2020 Proceedings of the 37th ISARC, Kitakyushu, Japan

Autonomous UAV flight using the Total Station Navigation System in Non-GNSS Environments

Akira Ishii, Takato Yasuno, Masazumi Amakata, Hiroaki Sugawara, Junichiro Fujii and Kohei Ozasa
Pages 685-692 (2020 Proceedings of the 37th ISARC, Kitakyushu, Japan, ISBN 978-952-94-3634-7, ISSN 2413-5844)

In this study, we propose autonomous UAV flight using the total station to estimate self-localization at a dam in a non-global navigation satellite system (GNSS) environment and suggest a flight path planning method for the UAV's flight position. As a result of the UAV's stable autonomous flight, a certain distance from the dam body's surface can be maintained by flying accurately along the planned path, allowing for uniform quality and highresolution images to be captured. Moreover, geotags can be added to the image by measuring the flight position of the captured images; this is achieved via the total station, which can track the UAV even in a non-GNSS environment. Resultantly, the accuracy of the three-dimensional reconstruction model using photogrammetry technology can be improved. We further implement a field study to demonstrate the utility of the proposed approach. Moreover, we propose aging detection using AI analysis.

Keywords: Autonomous UAV flight; Non-GNSS; Total station navigation system; Flight path planning; Dam