Integrity analysis for GPS-based navigation of UAVs in urban environment

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dc.contributor.authorIsik, Oguz Kagan
dc.contributor.authorHong, Juhyeon
dc.contributor.authorPetrunin, Ivan
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2020-09-21T13:18:27Z
dc.date.available2020-09-21T13:18:27Z
dc.date.issued2020-08-25
dc.description.abstractThe 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.en_UK
dc.identifier.citationIsik OK, Hong J, Petrunin I, Tsourdos A. (2020) Integrity analysis for GPS-based navigation of UAVs in urban environment. Robotics, Volume 9, Issue 3, August 2020 Article number 66en_UK
dc.identifier.issn2218-6581
dc.identifier.urihttps://doi.org/10.3390/robotics9030066
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/15815
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectGNSS-denied environmenten_UK
dc.subjectDOPen_UK
dc.subjectintegrity monitoringen_UK
dc.subjectnavigationen_UK
dc.subjecturban air mobilityen_UK
dc.subjectUAVen_UK
dc.titleIntegrity analysis for GPS-based navigation of UAVs in urban environmenten_UK
dc.typeArticleen_UK

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