NDLI: A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification

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A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification

Content Provider	MDPI
Author	Lee, Jungshin Sung, Chang-Ky Oh, Juhyun Han, Kyungjun Lee, Sang Woo Yu, Myeong-Jong
Copyright Year	2020
Description	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, an interferometric radar altimeter (IRA) is used 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, the performance of the proposed system is verified through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment.
Starting Page	1396
e-ISSN	20724292
DOI	10.3390/rs12091396
Journal	Remote Sensing
Issue Number	9
Volume Number	12
Language	English
Publisher	MDPI
Publisher Date	2020-04-28
Access Restriction	Open
Subject Keyword	Remote Sensing Imaging Science Terrain Referenced Navigation (trn) Federated Filter Ins/gnss/trn Integrated Navigation Interferometric Radar Altimeter (ira) Batch Processing Auxiliary Particle Filter Digital Elevation Model (dem) Graphics Processing Units (gpgpu) Software-in-the-loop (sil) Captive Flight Test
Content Type	Text
Resource Type	Article

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