Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors

Name: Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors
Creator: Juan Sandino
License: http://creativecommons.org/licenses/by/4.0/
Keywords: Electrical and electronic engineering,Sensory data,research data,data collections,research project

Sandino, Juan; Vanegas, Fernando; Maire, Frederic; Caccetta, Peter; Sanderson, Conrad; Gonzalez, Felipe

doi:10.25912/RDF_1619673939763

Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors

Viewed: 1344

This dataset consists of flight logs of autonomous navigation of a small quadrotor UAV (Holybro S500) under a GNSS-denied scenario using visual odometry and range distance sensors. Experimentation was conducted using real flight tests. The tested environment is the Queensland University of Technology (QUT) Da Vinci Precinct (DVP) hangar area, 24/22 Boronia Rd, Brisbane Airport, QLD 4008, Australia.

The data collection campaign occurred over four (4) opportunities from 25 June, 2020 to 2 July, 2020, between 11:00 a.m. and 3:00 p.m. The dataset was automatically generated by the flight controller unit (Pixhawk v4) and can be processed using any of the open-source software solutions provided by the PX4 community (https://docs.px4.io/master/en/log/flight_log_analysis.html).

The data collection formed part of the PhD project "Autonomous Decision Making on UAVs under Environment and Target Detection Uncertainty".

Geographical area of data collection

kmlPolyCoords

153.105386,-27.416049

Publications

Sandino, Juan, Vanegas Alvarez, Fernando, Maire, Frederic, Caccetta, Peter, Sanderson, Conrad, & Gonzalez, Luis Felipe (2020) UAV framework for autonomous onboard navigation and people/object detection in cluttered indoor environments. Remote Sensing, 12(20), Article number: 3386. https://eprints.qut.edu.au/205546/

Research areas

Electrical and electronic engineering

Sensory data

Cite this collection

Sandino, Juan; Vanegas, Fernando; Maire, Frederic; Caccetta, Peter; Sanderson, Conrad; Gonzalez, Felipe (2020): Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors. Queensland University of Technology. (Dataset) https://doi.org/10.25912/RDF_1619673939763

Access the data

https://data.researchdatafinder.qut.edu.au/dataset/flight-logs-of2

Data file types

Files contain the extension '.ulg' This file extension can be opened using any of the open-sourced software solutions such as pyulog or Flight Review. More details: https://docs.px4.io/master/en/log/flight_log_analysis.html