학술논문
Improving Navigation in GNSS-Challenging Environments: Multi-UAS Cooperation and Generalized Dilution of Precision
Document Type
Periodical
Author
Source
IEEE Transactions on Aerospace and Electronic Systems IEEE Trans. Aerosp. Electron. Syst. Aerospace and Electronic Systems, IEEE Transactions on. 57(3):1462-1479 Jun, 2021
Subject
Language
ISSN
0018-9251
1557-9603
2371-9877
1557-9603
2371-9877
Abstract
This article presents an approach to tackle navigation challenges for unmanned aircraft systems flying under non-nominal GNSS coverage. The concept used to improve navigation performance in these environments consists of using one or more cooperative platforms and relative sensing measurements (based on vision and/or ranging) to the navigation aid. The article details the cooperative navigation filter, which can exploit multiple cooperative platforms and multiple relative measurements while also using the partial GNSS information. The achievable navigation accuracy can be predicted using the concept of “generalized dilution of precision,” which derives from applying the idea of the dilution of precision to the mathematical structure of the cooperative navigation filter. The values and trends of generalized dilution of precision are discussed as a function of the relative geometry in common GNSS-challenging scenarios. Finally, navigation performance is assessed based on simulations and multidrone flight tests.