Carrier-phase GNSS Attitude Determination and Control for Small Unmanned Aerial Vehicle Applications

Sabatini, Roberto; Kaharkar, Anish; Bartel, Celia; Shaid, Tesheen

doi:10.4172/2168-9792.1000115

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…The satellite position and velocity are calculated from the Kepler's laws of orbital motion using either the YUMA or SEM almanac data [28,29]. Various geometric parameters were extracted from the literature to draw a detailed CATIA model of the AEROSONDE UA [30][31][32][33][34]. The ABIA integration into an existing UAS SAA architecture was studied in cooperative and non-cooperative SAA scenarios.…”

Section: Simulation Activitiesmentioning

confidence: 99%

Assessing avionics-based GNSS integrity augmentation performance in UAS mission- and safety-critical tasks

Sabatini

Moore

Hill

et al. 2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-The integration of Global Navigation Satellite System (GNSS) integrity augmentation functionalities in Unmanned Aerial Systems (UAS) has the potential to provide an integrity-augmented Sense-and-Avoid (SAA) solution suitable for cooperative and non-cooperative scenarios. In this paper, we evaluate the opportunities offered by this integration, proposing a novel approach that maximizes the synergies between Avionics Based Integrity Augmentation (ABIA) and UAS cooperative/non-cooperative SAA architectures. When the specified collision risk thresholds are exceeded, an avoidance manoeuvre is performed by implementing a heading-based differential geometry or pseudospectral optimization to generate a set of optimal trajectory solutions free of mid-air conflicts. The optimal trajectory is selected using a cost function with minimum time constraints and fuel penalty criteria weighted for separation distance. The optimal avoidance trajectory also considers the constraints imposed by the ABIA in terms of UAS platform dynamics and GNSS satellite elevation angles (plus jamming avoidance when applicable), thus preventing degradation or loss of navigation data during the Track, Decision and Avoidance (TDA) process. The performance of this IntegrityAugmented SAA (IAS) architecture was evaluated by simulation case studies involving cooperative and noncooperative platforms. Simulation results demonstrate that the proposed IAS architecture is capable of performing highintegrity conflict detection and resolution when GNSS is used as the primary source of navigation data.

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Section: Simulation Activitiesmentioning

confidence: 99%

Assessing avionics-based GNSS integrity augmentation performance in UAS mission- and safety-critical tasks

Sabatini

Moore

Hill

et al. 2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…For evaluating the states with respect to tolerance values, error analysis was performed on the trajectories obtained in the longitudinal profile considering velocity, altitude and flight path angle deviations from the nominal value. 2 σ error parameters used in the stochastic case are from [10,11] and the 3-DoF vertical profile error parameters are expressed as:…”

Section: Re-entry Trajectory Generationmentioning

confidence: 99%

Flight Management System for Unmanned Reusable Space Vehicle Atmospheric and Re-Entry Trajectory Optimisation

Ramasamy

Sangam

Sabatini

et al. 2014

AMM

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The design and trajectory computation algorithms of an innovative Flight Management System (FMS) for Unmanned Reusable Space Vehicle (URSV) are presented. The proposed FMS features a number of common functionalities with modern aircraft FMS that enable flight planning in non-segregated airspace, as well as specific features for optimal trajectory generation and space segment monitoring of the flight mission. The general avionics architecture of URSV is presented and the specific FMS algorithms are developed to cope with the flight vehicle optimal trajectory planning and monitoring. Simulation case studies are performed in a realistic operational scenario resulting in the rapid generation of feasible trajectories, ensuring no violation of the defined mission and vehicle dynamics constraints. Additionally, error budget analysis is performed on longitudinal profile trajectories to evaluate the URSV performance.

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Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

Wu¹,

He²,

Wu³

et al. 2022

Meas. Sci. Technol.

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Global navigation satellite systems (GNSSs) have been widely used to provide real-time and high-precision attitude information for land vehicles, ships or aircrafts over the past decades. With the joint use of emerging multi-GNSS common-clock receivers and single-differenced (SD) model, the accuracy of pitch and roll can be significantly improved to the same level as yaw. However, the prerequisite is that the frequency-dependent phase line biases (LBs) in multiple GNSS systems and frequencies are accurately and rapidly estimated. In this contribution, we intend to solve this problem by using a multi-dimensional particle filter-based approach. We first investigate the relationship between the ratio value and the multi-dimensional phase LBs. Results have revealed that the ratio values can be used to judge the quality of multi-dimensional phase LBs and represent the likelihood function of observations. Then we present the procedure of multi-dimensional particle filter-based phase LBs estimation for SD ambiguity resolution and attitude determination. An improved strategy is also proposed to reduce the computation time. Finally, we take the two-dimensional case as an representative example to evaluate the performance of the proposed method in aspects of the convergence and accuracy of phase LB estimates, the attitude determination accuracy, and the computation time. Experimental results from two static datasets have demonstrated that the two-dimensional phase LBs basically rapid converge within 20 epochs. Moreover, compared with the double-differenced (DD) method, the proposed multi-dimensional particle filter-based SD method could provide comparable yaw accuracy and much better pitch accuracy. The pitch accuracy is improved to the same level as yaw by approximately 42.9%~50.0%. With regard to the computation time, it is found that with the proposed modification strategy, the single-epoch computation times are significantly reduced by approximately 90.7%~93.5%, and they are mostly within 0.05 s for most of the epochs on a personal computer.

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Carrier-phase GNSS Attitude Determination and Control for Small Unmanned Aerial Vehicle Applications

Cited by 3 publications

References 19 publications

Assessing avionics-based GNSS integrity augmentation performance in UAS mission- and safety-critical tasks

Assessing avionics-based GNSS integrity augmentation performance in UAS mission- and safety-critical tasks

Flight Management System for Unmanned Reusable Space Vehicle Atmospheric and Re-Entry Trajectory Optimisation

Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

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