dc.contributor.author | Tabassum, Tarafder Elmi | |
dc.contributor.author | Petrunin, Ivan | |
dc.contributor.author | Rana, Zeeshan | |
dc.date.accessioned | 2022-11-24T14:51:41Z | |
dc.date.available | 2022-11-24T14:51:41Z | |
dc.date.issued | 2022-08-26 | |
dc.identifier.citation | Tabassum TE, Petrunin I, Rana Z. (2022) Failure mode analysis (FMA) for visual-based navigation for UAVs in urban environment. In: UK-RAS22 5th UK Robotics and Autonomous Systems Conference, 26 August 2022, Aberystwyth, Wales, UK | en_UK |
dc.identifier.uri | https://doi.org/10.31256/Mx7Zx4J | |
dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/18739 | |
dc.description.abstract | Visual-based navigation systems for Unmanned Aerial vehicles (UAVs) have become an interesting research area focused on improving robustness and accuracy in the urban environment. However, a lack of integrity can damage UAVs, limiting their potential usage in civil applications. For safety reasons, integrity performance requirements must be met. In literature, such systems require significant attention for their ability to perform fault analysis, referred to as failure mode. In this paper, we have conducted a failure mode analysis in urban environments for UAVs to identify threats and faults presented in existing Visual-inertial Navigation Systems. In addition, we propose a federated-filter-based fault detection and execution system to improve navigation performance under faulted conditions. | en_UK |
dc.language.iso | en | en_UK |
dc.publisher | UK-Robotics and Autonomous Systems (UK-RAS) Network | en_UK |
dc.rights | © Cranfield University, 2015. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright holder. | |
dc.rights | Attribution 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | visual-based navigation | en_UK |
dc.subject | integrity | en_UK |
dc.subject | failure mode analysis | en_UK |
dc.subject | urban environment | en_UK |
dc.subject | GNSS | en_UK |
dc.title | Failure mode analysis (FMA) for visual-based navigation for UAVs in urban environment | en_UK |
dc.type | Conference paper | en_UK |
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