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research article

Assessment of VDM-based autonomous navigation of a UAV under operational conditions

Khaghani, Mehran  
•
Skaloud, Jan  
May 17, 2018
Robotics and Autonomous Systems

This paper presents extensions and practical realization of a previously proposed novel approach to navigation and sensor integration for small unmanned aerial vehicles (UAV). The proposed approach employs vehicle dynamic model (VDM) as process model within navigation system, and treats data from other sensors such as inertial measurement unit (IMU), barometric altimeter, and global navigation satellite system (GNSS) receiver as observations within the system. In comparison to conventional approach that employs inertial navigation system (INS) as process model, employing VDM requires no added hardware, yet significantly improves navigation performance, especially in case of GNSS outages. Experimental results from a real flight on a custom made fixed-wing UAV, as well as Monte Carlo simulation results, reveal improvements of 1 to 2 orders of magnitude in navigation accuracy during GNSS outages of 3 minutes’ duration. This is a prerequisite for safer navigation without exteroceptive sensors. Uncertainty levels are predicted consistently within the filter, and a discussion on observability based on covariance matrix analysis is presented. Computation time is also compared to conventional INS-based approach.

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Type
research article
DOI
10.1016/j.robot.2018.05.007
Author(s)
Khaghani, Mehran  
•
Skaloud, Jan  
Date Issued

2018-05-17

Published in
Robotics and Autonomous Systems
Volume

106

Issue

106

Start page

152

End page

164

Subjects

UAV

•

Autonomous navigation

•

Vehicle dynamic model

•

GNSS outage

•

Inertial navigation

•

topotraj

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
TOPO  
Available on Infoscience
May 22, 2018
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/146523
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