Journal article Open Access

Navigation and Guidance System Architectures for Small Unmanned Aircraft Applications

Roberto Sabatini; Celia Bartel; Anish Kaharkar; Tesheen Shaid; Subramanian Ramasamy


MARC21 XML Export

<?xml version='1.0' encoding='UTF-8'?>
<record xmlns="http://www.loc.gov/MARC21/slim">
  <leader>00000nam##2200000uu#4500</leader>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">B. Sinopoli, M. Micheli, G. Donato, and T. J. Koo, "Vision based
navigation for unmanned aerial vehicles," in Proc. International Conf. of
Robotics &amp; Automation, vol. 2, 2001, pp. 1757 – 1764.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">S. Se, D. G. Lowe, and J. J. Little, "Vision based global localisation and
mapping," IEEE Trans. on Robotics, vol. 21, no.3, pp. 364-375, June
2005.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">P. Cui and F. Yue, "Stereo vision-based autonomous navigation for
lunar rovers," Aircraft Engineering and Aerospace Technology: An
International Journal, vol. 79, no. 4, pp. 398-405, 2007.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">Y. Matsumoto, K. Sakai, M. Inaba, and H. Inoue, "View-based approach
to robot navigation," in Proc. IEEE/RSJ Conf. on Intelligent Robots and
Systems, vol. 3, Japan, Nov. 2000, pp. 1702-1708.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">J. Courbon, Y. Mezouar, N. Guenard, and P. Martinet, "Visual
navigation of a quadrotor aerial vehicle," in Proc. IEEE/RSJ Conf. on
Intelligent Robots and Systems, Oct. 2009, pp. 5315-5320.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">J. Courbon, Y. Mezouar, N. Guenard, and P. Martinet, "Vision-based
navigation of unmanned aerial vehicles," Control Engineering Practice,
vol. 18, no. 7, pp. 789-799, July 2010.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">Z. Chen and S. T. Birchfield, "Qualitative vision-based path following,"
IEEE Trans. on Robotics, vol. 25, no. 3, pp. 749-754, June 2009.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">A. Remazeilles, and F. Chaumette, "Image-based robot navigation from
an image memory," Journal of Robotics and Autonomous Systems, vol.
55, no. 4, 2007.</subfield>
  </datafield>
  <datafield tag="999" ind1="C" ind2="5">
    <subfield code="x">L. Xinhua and Y. Cao, "Research on the application of the vision-based
autonomous navigation to the landing of the UAV," in Proc. Fifth
International Symposium on Instrumentation and Control Technology,
vol. 5253, 2003, pp. 385-388.
[10] D. Dusha, L. Mejias, and R. Walker, "Fixed-wing attitude estimation
using temporal tracking of the horizon and optical flow," Journal of
Field Robotics, vol. 28, no. 3, pp. 355-372, 2011.
[11] M. A. Olivares-Mendez, I. F. Mondragon, P. Campoy, and C. Martinez,
"Fuzzy controller for UAV-landing task using 3D position visual
estimation," in Proc. IEEE International Conf. on Fuzzy Systems, 2010.
[12] S. I. Roumeliotis, A. E. Johnson, and J. F. Montgomery, "Augmenting
Inertial Navigation with image-basedestimation," in Proc. International
Conf. of Robotics &amp; Automation, 2002, pp. 4326-4333.
[13] G. N. Desouza and A. C. Kak, "Vision for mobile robot navigation: a
survey," IEEE Trans. Pattern Analysis and Machine Intelligence, vol.
24, no. 2, pp. 237 – 267, Feb. 2002.
[14] D. Santosh, S. Achar, and C. V. Jawahar, "Autonomous image-based
exploration for mobile robot navigation," in Proc. International Conf. of
Robotics &amp; Automation, 2008, pp. 2717 – 2722.
[15] P. Rives and J. R. Azinheira, "Visual auto-landing of an autonomous
aircraft," INRIA, no. 4606, 2002.
[16] G. Blanc, Y. Mezouar, and P. Martinet, "Indoor navigation of a wheeled
mobile robot along visual routes," in Proc. International Conf. of
Robotics &amp; Automation, 2005, pp. 3354-3359.
[17] G. Rangasamy, "Image sensor fusion algorithms for obstacle detection,
location and avoidance for autonomous navigation of UAVs," M.Sc.
Thesis, School of Engineering, Cranfield University, 2010.
[18] E. H. Shin, "Estimation technics for low-cost inertial navigation," PhD
Thesis, University of Calgary, Alberta, Canada, 2005.
[19] A. Angrisano, "GNSS/INS Integration Methods," PhD Thesis,
Department of Applied Sciences, Parthenope University of Naples, Italy,
2010.
[20] C. Tiberius, Standard positioning service, "Handheld GPS receiver
accuracy," GPS World, 2003.
[21] W. Ding and J. Wang, "Precise Velocity Estimation with a Stand-Alone
GPS receiver," The Journal of Navigation, vol. 69, no. 2, pp. 311-325,
2011.
[22] D. Titterton and J. Weston, "Strap down Inertial Navigation
Technology," (2nd Edition), The Institution of Electrical Engineers,
2004.
[23] S. Troy, "Investigation of MEMS Inertial Sensors and Aircraft Dynamic
Models in Global Positioning System Integrity Monitoring for
Approaches with Vertical Guidance," PhD thesis, Queensland
University of Technology, School of Engineering, 2009.
[24] S. Godha, "Performance Evaluation of Low Cost MEMS-Based IMU
Integrated With GPS for Land Vehicle Navigation Application," UCGE
Report No. 20239, University of Calgary, Department of Geomatics
Engineering, Alberta, Canada, 2006.
[25] R. Sabatini, C. Bartel, A. Kaharkar, T. Shaid, H. Jia, and D. Zammit-
Mangion , "Design and Integration of Vision-based Navigation Sensors
for Unmanned Aerial Vehicles Navigation and Guidance," in Proc. SPIE
Photonics Europe Conf., Brussels, Belgium, 2012.
[26] R. Sabatini, L. RodríguezSalazar, A. Kaharkar, C. Bartel, and T. Shaid,
"GNSS Data Processing for Attitude Determination and Control of
Unmanned Aerial and Space Vehicles," in Proc. European Navigation
Conf., Gdansk (Poland), April 2012.
[27] R. Sabatini, L. RodríguezSalazar, A. Kaharkar, C. Bartel, and T. Shaid,
"Low-Cost Vision Sensors and Integrated Systems for Unmanned Aerial
Vehicle Navigation and Guidance," ARPN Journal of Systems and
Software, ISSN: 2222-9833, vol. 2, no. 11, pp. 323-349, 2013.
[28] R. Sabatini, L. RodríguezSalazar, A. Kaharkar, C. Bartel, T. Shaid, D.
Zammit-Mangion, and H. Jia, "Low-Cost Navigation and Guidance
Systems for Unmanned Aerial Vehicles – Part 1: Vision-Based and
Integrated Sensors," Annual of Navigation Journal, vol. 19, pp. 71-98,
2012.
[29] R. Sabatini, L. RodríguezSalazar, A. Kaharkar, C. Bartel, and T. Shaid,
"Carrier-Phase GNSS Attitude Determination and Control System for
Unmanned Aerial Vehicle Applications,"ARPN Journal of Systems and
Software, ISSN: 2222-9833, vol. 2, no. 11, pp.297-322, 2012.
[30] R. Sabatini, C. Bartel, A. Kaharkar, T. Shaid, D. Zammit-Mangion, and
H. Jia, "Vision Based Sensors and Multisensor Systems for Unmanned
Aerial Vehicles Navigation and Guidance," in Proc. European
Navigation Conf., Gdansk, Poland, 2012.
[31] R. Sabatini, L. RodríguezSalazar, A. Kaharkar, C. Bartel, and T. Shaid,
"Satellite Navigation Data Processing for Attitude Determination and
Control of Unmanned Air Vehicles," in Proc. European Navigation
Conf., Gdansk, Poland, 2012.
[32] R. Sabatini, C. Bartel, A. Kaharkar, T. Shaid, L. RodríguezSalazar, and
D. Zammit-Mangion, "Low-Cost Navigation and Guidance Systems for
Unmanned Aerial Vehicles – Part 2: Attitude Determination and
Control," Annual of Navigation, vol. 20, pp. 97-126, 2013.
[33] R. Sabatini, S. Ramasamy, A. Gardi, and L. RodríguezSalazar, "Lowcost
Sensors Data Fusion for Small Size Unmanned Aerial Vehicles
Navigation and Guidance,"International Journal of Unmanned Systems
Engineering, vol. 1, no. 3, pp. 16-47, 2013.
[34] R. Sabatini, A. Kaharkar, C. Bartel, and T. Shaid, "Carrier-phase GNSS
Attitude Determination and Control for Small UA Applications,"Journal
of Aeronautics and Aerospace Engineering, vol. 2, no. 4, 2013.
[35] R. Sabatini, C. Bartel, A. Kaharkar, T. Shaid, and S. Ramasamy, "A
Novel Low-cost Navigation and Guidance System for Small Unmanned
Aircraft Applications," in Proc. WASET International Conf. on
Aeronautical and Astronautical Engineering (ICAAE 2013), Melbourne,
Australia, 2013.
[36] ICAO - Annex 10 to the Convention on International Civil Aviation,
"Aeronautical Telecommunications - Volume 1: Radio Navigation
Aids," Edition 6, July 2006.
[37] CAA Safety Regulation Group Paper 2003/09, "GPS Integrity and
Potential Impact on Aviation Safety," 2003.
[38] RMIT University, "Sky's the limit,"2013, Available online at:
http://rmit.com.au/browse;ID=wcga2pa6sovqz. [Accessed 9th April,
2014].
[39] R. Sabatini, T. Moore, and C. Hill, "A Novel GNSS Integrity
Augmentation System for Civil and Military Aircraft," International
Journal of Mechanical, Industrial Science and Engineering, vol. 7, no.
12, pp. 1433-1449. International Science Index 84, 2013.
[40] R. Sabatini, T. Moore, and C. Hill, "A New Avionics Based GNSS
Integrity Augmentation System: Part 2 – Integrity Flags," Journal of
Navigation, vol. 66, no. 4, pp. 511-522, 2013.
[41] R. Sabatini, T. Moore, and C. Hill, "A New Avionics Based GNSS
Integrity Augmentation System: Part 1 – Fundamentals," Journal of
Navigation, vol. 66, no. 3, pp. 363-383, 2013.
[42] R. Sabatini, T. Moore, and C. Hill, "Avionics Based GNSS Integrity
Augmentation for Mission- and Safety-Critical Applications," in Proc.
25th International Technical Meeting of the Satellite Division of the
Institute of Navigation: ION GNSS-2012, Nashville, Tennessee,
September 2012.</subfield>
  </datafield>
  <datafield tag="041" ind1=" " ind2=" ">
    <subfield code="a">eng</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Global Navigation Satellite System (GNSS)</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Lowcost
Navigation Sensors</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">MEMS Inertial Measurement Unit (IMU)</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Unmanned Aerial Vehicle</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Vision Based Navigation.</subfield>
  </datafield>
  <controlfield tag="005">20191101191459.0</controlfield>
  <controlfield tag="001">1092255</controlfield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Celia Bartel</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Anish Kaharkar</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Tesheen Shaid</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Subramanian Ramasamy</subfield>
  </datafield>
  <datafield tag="856" ind1="4" ind2=" ">
    <subfield code="s">2159453</subfield>
    <subfield code="z">md5:cd419844f379e7b5436ca15cc809adc0</subfield>
    <subfield code="u">https://zenodo.org/record/1092255/files/9998114.pdf</subfield>
  </datafield>
  <datafield tag="542" ind1=" " ind2=" ">
    <subfield code="l">open</subfield>
  </datafield>
  <datafield tag="260" ind1=" " ind2=" ">
    <subfield code="c">2014-04-01</subfield>
  </datafield>
  <datafield tag="909" ind1="C" ind2="O">
    <subfield code="p">user-waset</subfield>
    <subfield code="o">oai:zenodo.org:1092255</subfield>
  </datafield>
  <datafield tag="100" ind1=" " ind2=" ">
    <subfield code="a">Roberto Sabatini</subfield>
  </datafield>
  <datafield tag="245" ind1=" " ind2=" ">
    <subfield code="a">Navigation and Guidance System Architectures for Small Unmanned Aircraft Applications</subfield>
  </datafield>
  <datafield tag="980" ind1=" " ind2=" ">
    <subfield code="a">user-waset</subfield>
  </datafield>
  <datafield tag="540" ind1=" " ind2=" ">
    <subfield code="u">http://creativecommons.org/licenses/by/4.0/legalcode</subfield>
    <subfield code="a">Creative Commons Attribution 4.0 International</subfield>
  </datafield>
  <datafield tag="650" ind1="1" ind2="7">
    <subfield code="a">cc-by</subfield>
    <subfield code="2">opendefinition.org</subfield>
  </datafield>
  <datafield tag="520" ind1=" " ind2=" ">
    <subfield code="a">&lt;p&gt;Two multisensor system architectures for navigation&lt;br&gt;
and guidance of small Unmanned Aircraft (UA) are presented and&lt;br&gt;
compared. The main objective of our research is to design a compact,&lt;br&gt;
light and relatively inexpensive system capable of providing the&lt;br&gt;
required navigation performance in all phases of flight of small UA,&lt;br&gt;
with a special focus on precision approach and landing, where Vision&lt;br&gt;
Based Navigation (VBN) techniques can be fully exploited in a&lt;br&gt;
multisensor integrated architecture. Various existing techniques for&lt;br&gt;
VBN are compared and the Appearance-Based Navigation (ABN)&lt;br&gt;
approach is selected for implementation. Feature extraction and&lt;br&gt;
optical flow techniques are employed to estimate flight parameters&lt;br&gt;
such as roll angle, pitch angle, deviation from the runway centreline&lt;br&gt;
and body rates. Additionally, we address the possible synergies of&lt;br&gt;
VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU&lt;br&gt;
(Micro-Electromechanical System Inertial Measurement Unit)&lt;br&gt;
sensors, and the use of Aircraft Dynamics Model (ADM) to provide&lt;br&gt;
additional information suitable to compensate for the shortcomings of&lt;br&gt;
VBN and MEMS-IMU sensors in high-dynamics attitude&lt;br&gt;
determination tasks. An Extended Kalman Filter (EKF) is developed&lt;br&gt;
to fuse the information provided by the different sensors and to&lt;br&gt;
provide estimates of position, velocity and attitude of the UA&lt;br&gt;
platform in real-time. The key mathematical models describing the&lt;br&gt;
two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM&lt;br&gt;
(VIGA) system are introduced. The first architecture uses VBN&lt;br&gt;
and GNSS to augment the MEMS-IMU. The second mode also&lt;br&gt;
includes the ADM to provide augmentation of the attitude channel.&lt;br&gt;
Simulation of these two modes is carried out and the performances of&lt;br&gt;
the two schemes are compared in a small UA integration scheme (i.e.,&lt;br&gt;
AEROSONDE UA platform) exploring a representative cross-section&lt;br&gt;
of this UA operational flight envelope, including high dynamics&lt;br&gt;
manoeuvres and CAT-I to CAT-III precision approach tasks.&lt;br&gt;
Simulation of the first system architecture (i.e., VIG system) shows&lt;br&gt;
that the integrated system can reach position, velocity and attitude&lt;br&gt;
accuracies compatible with the Required Navigation Performance&lt;br&gt;
(RNP) requirements. Simulation of the VIGA system also shows&lt;br&gt;
promising results since the achieved attitude accuracy is higher using&lt;br&gt;
the VBN-IMU-ADM than using VBN-IMU only. A comparison of&lt;br&gt;
VIG and VIGA system is also performed and it shows that the&lt;br&gt;
position and attitude accuracy of the proposed VIG and VIGA&lt;br&gt;
systems are both compatible with the RNP specified in the various&lt;br&gt;
UA flight phases, including precision approach down to CAT-II.&lt;/p&gt;</subfield>
  </datafield>
  <datafield tag="773" ind1=" " ind2=" ">
    <subfield code="n">doi</subfield>
    <subfield code="i">isVersionOf</subfield>
    <subfield code="a">10.5281/zenodo.1092254</subfield>
  </datafield>
  <datafield tag="024" ind1=" " ind2=" ">
    <subfield code="a">10.5281/zenodo.1092255</subfield>
    <subfield code="2">doi</subfield>
  </datafield>
  <datafield tag="980" ind1=" " ind2=" ">
    <subfield code="a">publication</subfield>
    <subfield code="b">article</subfield>
  </datafield>
</record>
13
8
views
downloads
All versions This version
Views 1313
Downloads 88
Data volume 17.3 MB17.3 MB
Unique views 1313
Unique downloads 77

Share

Cite as