Lee, J.; Sung, C.-K.; Oh, J.; Han, K.; Lee, S.; Yu, M.-J. A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification. Remote Sens.2020, 12, 1396.
Lee, J.; Sung, C.-K.; Oh, J.; Han, K.; Lee, S.; Yu, M.-J. A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification. Remote Sens. 2020, 12, 1396.
Lee, J.; Sung, C.-K.; Oh, J.; Han, K.; Lee, S.; Yu, M.-J. A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification. Remote Sens.2020, 12, 1396.
Lee, J.; Sung, C.-K.; Oh, J.; Han, K.; Lee, S.; Yu, M.-J. A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification. Remote Sens. 2020, 12, 1396.
Abstract
Autonomous unmanned aerial vehicles (UAVs) require highly reliable navigation information. Generally, navigation systems with the inertial navigation system (INS) and global navigation satellite system (GNSS) have been widely used. However, the GNSS is vulnerable to jamming and spoofing. The terrain referenced navigation (TRN) technique can be used to solve this problem. In this study, to obtain reliable navigation information even if a GNSS is not available or the degree of terrain roughness is not determined, we propose a federated filter based INS/GNSS/TRN integrated navigation system. we also introduce a TRN system that combines batch processing and an auxiliary particle filter to ensure stable flight of UAVs even in a long-term GNSS-denied environment. As an altimeter sensor for the TRN system, we use an interferometric radar altimeter (IRA) to obtain reliable navigation accuracy in high altitude flight. In addition, a parallel computing technique with general-purpose computing on graphics processing units (GPGPU) is applied to process a high resolution terrain database and a nonlinear filter in real time on board. Finally, we verify the performance of the proposed system through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment.
Keywords
Terrain Referenced Navigation (TRN); Federated Filter; Interferometric Radar Altimeter (IRA); Batch Processing; Auxiliary Particle Filter; Digital Elevation Model (DEM); Captive Flight Test
Subject
Engineering, Automotive Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
