Outdoor-to-indoor UAV: GPS/optical/inertial integration for 3D navigation

An unmanned aircraft system (UAS) traffic management system (UTM … The camera used aboard the UAV in these tests is a Point Grey Firefly MV and the IMU is an XSENS MTi. The GPS receiver is a NovAtel OEMStar with a corresponding NovAtel L1 patch antenna.

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Outdoor-to-indoor UAV: GPS/optical/inertial integration for 3D navigation