Comparative Study of Indoor Navigation Systems for Autonomous Flight

Muhammad Ayaz


Recently, Unmanned Aerial Vehicles (UAVs) have attracted the society and researchers due to the capability to perform in economic, scientific and emergency scenarios, and are being employed in large number of applications especially during the hostile environments. They can operate autonomously for both indoor and outdoor applications mainly including search and rescue, manufacturing, forest fire tracking, remote sensing etc. For both environments, precise localization plays a critical role in order to achieve high performance flight and interacting with the surrounding objects. However, for indoor areas with degraded or denied Global Navigation Satellite System (GNSS) situation, it becomes challenging to control UAV autonomously especially where obstacles are unidentified. A large number of techniques by using various technologies are proposed to get rid of these limits. This paper provides a comparison of such existing solutions and technologies available for this purpose with their strengths and limitations. Further, a summary of current research status with unresolved issues and opportunities is provided that would provide research directions to the researchers of the similar interests.


unmanned aerial vehicles (UAVs); indoor navigation and localization; optical flow; ultrasonic sensor; LiDAR; vicon cameras

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