Real-Time Evaluation Method and Implementation of Multi-sensor Dynamic Ranging Capability for UAV

UAVs need to use a large number of sensors to complete autonomous navigation tasks in indoor environments. The evaluation of multi-sensors ranging capabilities in different application scenarios is an important research direction at present. This paper analyzes three main factors (light intensity, distance, target material) affecting the ranging capability of three sensors (depth camera D435i, binocular camera T265, and lidar Rplidar A1). To quantify the ranging capability of sensors in different application scenarios, the concept of dynamic ranging capability index (DRCI) is proposed in this study, which mainly depends on ranging accuracy. DRCI is a fuzzy evaluation index. The higher DRCI value, the stronger ranging capability. Through the analysis of a large number of experimental data, we establish the DRCI calculation method. This paper uses three sensors for a ranging task while calculating DRCI by the method in Airsim simulation scenarios and real scenarios. Finally, the real-time changes in the ranging capability of multi-sensors can be effectively evaluated by the method, and the results in simulation scenarios are validated in real scenarios.