Journal article Open Access
Roberto Sabatini; Celia Bartel; Anish Kaharkar; Tesheen Shaid; Subramanian Ramasamy
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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">20200120145750.0</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">openaire</subfield> <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">https://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"><p>Two multisensor system architectures for navigation<br> and guidance of small Unmanned Aircraft (UA) are presented and<br> compared. The main objective of our research is to design a compact,<br> light and relatively inexpensive system capable of providing the<br> required navigation performance in all phases of flight of small UA,<br> with a special focus on precision approach and landing, where Vision<br> Based Navigation (VBN) techniques can be fully exploited in a<br> multisensor integrated architecture. Various existing techniques for<br> VBN are compared and the Appearance-Based Navigation (ABN)<br> approach is selected for implementation. Feature extraction and<br> optical flow techniques are employed to estimate flight parameters<br> such as roll angle, pitch angle, deviation from the runway centreline<br> and body rates. Additionally, we address the possible synergies of<br> VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU<br> (Micro-Electromechanical System Inertial Measurement Unit)<br> sensors, and the use of Aircraft Dynamics Model (ADM) to provide<br> additional information suitable to compensate for the shortcomings of<br> VBN and MEMS-IMU sensors in high-dynamics attitude<br> determination tasks. An Extended Kalman Filter (EKF) is developed<br> to fuse the information provided by the different sensors and to<br> provide estimates of position, velocity and attitude of the UA<br> platform in real-time. The key mathematical models describing the<br> two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM<br> (VIGA) system are introduced. The first architecture uses VBN<br> and GNSS to augment the MEMS-IMU. The second mode also<br> includes the ADM to provide augmentation of the attitude channel.<br> Simulation of these two modes is carried out and the performances of<br> the two schemes are compared in a small UA integration scheme (i.e.,<br> AEROSONDE UA platform) exploring a representative cross-section<br> of this UA operational flight envelope, including high dynamics<br> manoeuvres and CAT-I to CAT-III precision approach tasks.<br> Simulation of the first system architecture (i.e., VIG system) shows<br> that the integrated system can reach position, velocity and attitude<br> accuracies compatible with the Required Navigation Performance<br> (RNP) requirements. Simulation of the VIGA system also shows<br> promising results since the achieved attitude accuracy is higher using<br> the VBN-IMU-ADM than using VBN-IMU only. A comparison of<br> VIG and VIGA system is also performed and it shows that the<br> position and attitude accuracy of the proposed VIG and VIGA<br> systems are both compatible with the RNP specified in the various<br> UA flight phases, including precision approach down to CAT-II.</p></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>
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