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research article

Sensitivity to Time Delays in VDM-Based Navigation

Laupré, Gabriel François  
•
Khaghani, Mehran  
•
Skaloud, Jan  
January 14, 2019
Drones

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute time frame as inertial measurement unit (IMU) data and all other observations when available (e.g., global navigation satellite system (GNSS) position, barometric altitude, etc.). This study analyzes the (non-) tolerances of possible delays in control-input command with respect to navigation performance on a fixed-wing unmanned aerial vehicle (UAV). Multiple simulations using two emulated trajectories based on real flights reveal the vital importance of correct time-tagging of servo data while that of motor data turned out to be tolerable to a considerably large extent.

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Type
research article
DOI
10.3390/drones3010011
Author(s)
Laupré, Gabriel François  
Khaghani, Mehran  
Skaloud, Jan  
Date Issued

2019-01-14

Published in
Drones
Volume

3

Issue

1

Start page

11

Subjects

Vehicle Dynamic Model

•

Navigation

•

Time-tagging

•

Delay

•

GNSS outage, topotraj

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
TOPO  
Available on Infoscience
February 21, 2019
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/154633
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