A fault-tolerant, integrated navigation system architecture for UAVs

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

The core sub-system in the integrated navigation system presented in this paper was the GPS-aided Inertial Navigation System (INS) which provided estimates for aircraft position, velocity and attitude. In parallel, a cascaded system consisting of an Attitude Heading Reference System (AHR.S) and airspeed-based dead reckoner (DR.) provided redundant estimates of the position, velocity and attitude. Limitations in the AHRS-DR system typically lead to the GPS-aided INS providing better performance when GPS measurements are available. Conversely, the AHRS-DR system typically outperforms the GPS-aided INS during unaided operations. In view of this, it may be beneficial to design a fault tolerant filter that can "softly" switch between the parallel systems to create an optimally blended solution of both. The integrated navigation system developed in this work was implemented on a small UAV flight control system, and three flight environments were tested to characterize the performance. Flight data analysis illustrated that this system is capable providing accurate state estimation even in environments that would compromise a traditional UAV navigation system.

Original languageEnglish (US)
Title of host publicationInstitute of Navigation International Technical Meeting 2015, ITM 2015
PublisherInstitute of Navigation
Pages702-712
Number of pages11
ISBN (Electronic)9781510800434
StatePublished - Jan 1 2015
EventInstitute of Navigation International Technical Meeting 2015, ITM 2015 - Dana Point, United States
Duration: Jan 26 2015Jan 28 2015

Publication series

NameInstitute of Navigation International Technical Meeting 2015, ITM 2015

Other

OtherInstitute of Navigation International Technical Meeting 2015, ITM 2015
Country/TerritoryUnited States
CityDana Point
Period1/26/151/28/15

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