Integrity Analysis for GPS-Based Navigation of UAVs in Urban Environment

Robotics

Juhyeon Hong¹  Ivan Petrunin²  Antonios Tsourdos²  OguzKagan Isik² 

[1] Korea Shipbuilding & Offshore Engineering Co. Ltd., 75 Yulgok-ro, Seoul 03058, Korea;School of Aerospace, Transport and Manufacturing (SATM), Cranfield University, Cranfield MK43 0AL, UK;

关键词: GNSS-denied environment;    DOP;    integrity monitoring;    navigation;    urban air mobility;    UAV;   

DOI  :  10.3390/robotics9030066

来源: DOAJ

【 摘 要 】

The increasing use of Unmanned Aerial Vehicles (UAVs) in safety-critical missions in both civilian and military areas demands accurate and reliable navigation, where one of the key sources of navigation information is presented by Global Navigation Satellite Systems (GNSS). In challenging conditions, for example, in urban areas, the accuracy of GNSS-based navigation may degrade significantly due to user-satellite geometry and obscuration issues without being noticed by the user. Therefore, considering the essentially dynamic rate of change in this type of environment, integrity monitoring is of critical importance for understanding the level of trust we have in positioning and timing data. In this paper, the dilution of precision (DOP) coefficients under nominal and challenging conditions were investigated for the purpose of integrity monitoring in urban environments. By analyzing positioning information in a simulated urban environment using a software-based GNSS receiver, the integrity monitoring approach based on joint consideration of GNSS observables and environmental parameters has been proposed. It was shown that DOP coefficients, when considered together with a number of visible satellites and cut-off elevations specific to the urban environment carry valuable integrity information that is difficult to get using existing integrity monitoring approaches. This has allowed generating indirect integrity measures based on cut-off elevation and satellite visibility that can be used for UAV path planning and guidance in urban environments.

【 授权许可】

Unknown