Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance
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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) ...
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 ...
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, ...
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 ...
The work proposes a multi-modal regional mean speed regression analysis for the city network of Athens, Greece. The dataset from pNUEMA experiment is used in the present context. Accumulations and mean speeds of different modes are estimated and compared t ...
Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...
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 ...
EPFL2022
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Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...
2021
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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 ...
Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...
