Publication
VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation
Related publications (179)
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Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...
2024Aerodynamic modeling of a delta-wing UAV for model-based navigation
Jan Skaloud, Pasquale Longobardi
This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...
2024Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation
Jan Skaloud, Gabriel François Laupré
The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...
2023Open Access Identifying Aerodynamics of Small Fixed-Wing Drones Using Inertial Measurements for Model-Based Navigation
Jan Skaloud, Gabriel François Laupré
The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing inertial measurement unit and global navigation satellite system (GNSS) measurements. However, during a GNSS ...
2023Wind Tunnel Characterization of a Delta-Wing UAV for - Model-Based Navigation
This paper presents an experimental procedure for aerodynamic characterization of a delta-wing UAV for model-based navigation applications. We report the design of experiments, aimed to maximize aerodynamic coefficients observability while meeting time con ...
EUCASS2023A Large-Scale Characterization of How Readers Browse Wikipedia
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Despite the importance and pervasiveness of Wikipedia as one of the largest platforms for open knowledge, surprisingly little is known about how people navigate its content when seeking information. To bridge this gap, we present the first systematic large ...
ASSOC COMPUTING MACHINERY2023Reliable strategies for implementing model-based navigation on fixed-wing drones
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A relatively novel approach of autonomous navigation employing platform dynamics as the primary process model raises new implementational challenges. These are related to: (i) potential numerical instabilities during longer flights; (ii) the quality of mod ...
2023Optimization and Real-Time Aspects of Aircraft Model-Based Navigation
The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...
EPFL2022GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes
Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...
EPFL2022Wikipedia Reader Navigation: When Synthetic Data Is Enough
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Every day millions of people read Wikipedia. When navigating the vast space of available topics using hyperlinks, readers describe trajectories on the article network. Understanding these navigation patterns is crucial to better serve readers' needs and ad ...
ASSOC COMPUTING MACHINERY2022