A low-cost and high performance navigation system for small RPAS applications
作者： Francesco Cappello , Subramanian Ramasamy , Roberto Sabatini
DOI: 10.1016/J.AST.2016.09.002
关键词:
摘要: Abstract Modern Remotely Piloted Aircraft Systems (RPAS) employ a variety of sensors and multi-sensor data fusion techniques to provide advanced functionalities trusted autonomy in wide range mission-essential safety-critical tasks. In particular, Navigation Guidance (NGS) for small RPAS require typical combination lightweight, compact inexpensive satisfy the Required Performance (RNP) all flight phases. this paper, synergies attainable by Global Satellite System (GNSS), Micro-Electromechanical based Inertial Measurement Unit (MEMS-IMU) Vision-Based (VBN) are explored. case VBN, an appearance-based navigation technique is adopted feature extraction/optical flow methods employed estimate parameters during precision approach landing A key novelty proposed employment Dynamics Models (ADM) augmentation compensate shortcomings VBN MEMS-IMU high-dynamics attitude determination To obtain best estimates Position, Velocity Attitude (PVA), different sensor combinations analysed dynamic Boolean Decision Logics (BDL) implemented selection before centralised accomplished. Various alternatives investigated including traditional Extended Kalman Filter (EKF) more Unscented (UKF). novel hybrid controller employing fuzzy logic Proportional–Integral–Derivative (PID) effective stabilisation control pitch roll angles. After introducing mathematical models describing three NGS architectures: EKF VBN-IMU-GNSS (VIG) VBN-IMU-GNSS-ADM (VIGA) UKF Enhanced VIGA (EVIGA), system performances compared integration scheme (i.e., AEROSONDE platform) exploring representative cross-section aircraft operational envelope. dedicated ADM processor local pre-filter) EVIGA architecture account manoeuvring envelope phases (assisted manoeuvre identification algorithm), order extend validity time across segments trajectory. Simulation results show that VIG, systems compliant with ICAO requirements down CAT-II. other phases, shows improvement PVA output respect VIG system. The performance terms accuracy significant extension achieved configuration.
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