GNSS拒止环境下多架小型低成本无人机在搜索与救援任务中的远程自主控制
Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations
AI总结：
针对GNSS拒止环境下消费级无人机自主飞行受限的问题，提出基于大疆无人机和Android遥控器应用的远程自主系统，支持单操作员监控多机并构建联合3D环境模型。
摘要：
近年来，消费级无人机已被急救人员广泛采用。通常，它们由人工操作，这需要训练有素的飞行员，尤其是在未知的GNSS拒止环境以及建筑物附近。自主飞行可以促进无人机的应用并减轻操作员的负担。然而，自主系统通常需要特殊的编程接口、定制传感器设置和强大的机载计算机，这限制了其更广泛的部署。我们提出了一套使用轻量级消费级大疆无人机的自主飞行系统。它们通过直接在无人机遥控器上运行的Android应用进行状态估计和避障控制。我们的地面控制站使单个操作员能够同时配置和监控多架异构无人机。此外，它将所有无人机的观测数据合并到一个联合的3D环境模型中，以提高态势感知能力。
英文摘要：
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures. Autonomous flight can facilitate the application of UAVs and reduce operator strain. However, autonomous systems usually require special programming interfaces, custom sensor setups, and strong onboard computers, which limits a broader deployment. We present a system for autonomous flight using lightweight consumer-grade DJI drones. They are controlled by an Android app for state estimation and obstacle avoidance directly running on the UAV's remote control. Our ground control station enables a single operator to configure and supervise multiple heterogeneous UAVs at once. Furthermore, it combines the observations of all UAVs into a joint 3D environment model for improved situational awareness.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
