Terrain aided multirotor recovery using laser range-finders

Stanislav Shougaev, Moshe Idan

Research output: Contribution to conferencePaperpeer-review


This abstract presents a body-fixed laser rangefinder-based (LRF) recovery approach for a multirotor in a satellite-navigation-deprived environment. The goal is to return the multirotor safely to its takeoff site after a loss of satellite navigation signal. During normal operation, when the satellite signal is still available, a terrain model is constructed using data gathered by several body-fixes LRFs. After the signal loss, the multirotor navigates to its takeoff area using the LFR readings and the stored terrain model within a terrain-Aided navigation-inspired approach. The proposed concept was validated using a computer simulation utilizing a realistic model of the multirotor and scanned terrain data from the TAAL Volcano area. A detailed LRF configuration and altitude profile characterization study was performed to identify the preferred system parameters. A Monte Carlo simulation study was conducted for a statistical evaluation of the system, showing its promising performance.

Original languageEnglish
StatePublished - 2023
Event62nd Israel Annual Conference on Aerospace Sciences, IACAS 2023 - Haifa, Israel
Duration: 15 Mar 202316 Mar 2023


Conference62nd Israel Annual Conference on Aerospace Sciences, IACAS 2023

ASJC Scopus subject areas

  • Aerospace Engineering


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