在未知的全球导航卫星系统封闭环境进行自动飞行以进行灾害检查 (Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination)

Micro aerial vehicles (MAVs) exhibit high potential for information extraction tasks in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone, especially in stressful situations of real emergencies. The conditions of disaster scenarios are also challenging for autonomous MAV systems. The environment is usually not known in advance and GNSS might not always be available. We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems. The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.

翻译：微型航空飞行器(MAV)在搜索和救援情景中具有很高的信息提取任务潜力,在这种情景中,对MAV进行人工控制需要经验丰富的飞行员,而且容易出错,特别是在实际紧急情况的紧张情况下,对自主的MAV系统而言,灾害情景也具有挑战性,环境通常事先不为人所知,全球导航卫星系统可能并不总是可用,我们为在不依赖全球定位系统的未知环境中的MAV自主飞行提供了一个系统,这种方法在多个搜索和救援情景中评估,允许安全自主飞行,即使在室内和室外过渡时也是如此。