A recovery system for SUAV operations in GPS-denied environments using timing advance measurements

Trevor Layh, Jordan D Larson, John Jackson, Brian Taylor, Demoz Gebre Egziabher

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

2 Scopus citations

Abstract

This paper describes a recovery system for Small Unmanned Aerial Vehicles (SUAVs) operated in and around urban areas. The purpose of the system is to provide guidance to a SUAV allowing safe navigation to an area where it can be recovered in the event of a GPS outage using current technology and implement the solution within a one year timeframe. The prototype SUAV system presented in this paper made use of a federated filtering approach to calculate position, velocity, and attitude in GPS-denied environments. An Attitude Heading Reference System computed attitude followed by an air-data based dead reckoning navigator to determine the velocity and position of the SUAV. This system was aided by position fixes derived from the onboard cell phone receiver. Coarsely discretized time-of-arrival (TOA) information from the receiver bounded the position error of the dead reckoning navigator. The short-term performance of the system was evaluated through flight testing incorporating 2-5 minute GPS outages. Hardware-in-the-loop (HIL) simulations were conducted to demonstrate the system performance during extended (30 minute) GPS outages. The average position error magnitude of an un-aided dead reckoning navigator at the end of 25 Monte Carlo HIL simulations was 5275 m. In spite of the coarse TOA data, the cell phone-aided system out-performed the un-aided solution and bounded the average error to 166 m.

Original languageEnglish (US)
Title of host publicationInstitute of Navigation International Technical Meeting 2015, ITM 2015
PublisherInstitute of Navigation
Pages293-303
Number of pages11
ISBN (Electronic)9781510800434
StatePublished - 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
CountryUnited States
CityDana Point
Period1/26/151/28/15

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