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research article

Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs

Khaghani, Mehran  
•
Skaloud, Jan  
2016
Navigation-Journal of the Institute of Navigation

This paper presents a novel approach to autonomous navigation for small UAVs, with no extra sensor added to the conventional INS/GNSS setup. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs. This improvement is of special interest in the case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the VDM provides the estimate of position, velocity, and attitude, which is updated within a filter based on available observations, such as IMU data or when available, GNSS measurements. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS systems during GNSS outages of 5 min. A discussion on the observability is also presented at the end. Copyright (C) 2016 Institute of Navigation.

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Type
research article
DOI
10.1002/navi.140
Web of Science ID

WOS:000389140600008

Author(s)
Khaghani, Mehran  
•
Skaloud, Jan  
Date Issued

2016

Published in
Navigation-Journal of the Institute of Navigation
Volume

63

Issue

3

Start page

345

End page

358

Subjects

UAV

•

Autonomous navigation

•

Vehicle dynamic model

•

GNSS outage

•

Inertial navigation

•

topotraj

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
TOPO  
Available on Infoscience
January 26, 2017
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/133987
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