Publication

Developments in (Vehicle Dynamic) Model Based Drone Navigation

Jan Skaloud
2025

Abstract

he success of drone missions often relies on an accurate estimate of the drone’s position, attitude, and velocity. The classical navigation approach of fusing inertial sensor data with GNSS quickly fails if the GNSS signal is lost or unreliable. An alternative approach mitigat-ing this problem consists in fusing inertial and GNSS measurements with a model of the aerodynamic forces and moments exerted on the vehicle. We will first present an extension of this vehicle dynamic model (VDM) based method to use multiple redundant inertial sensors, including results with real flight data on a fixed-wing drone under simulated GNSS outage. We will also discuss the limits in reducing the noise from the multiple IMUs and improving the overall precision. We will then present the process of adapting the VDM navigation framework to a delta-wing drone in terms of model structure and the path to the working prototype with perspective applications.

Official source

https://infoscience.epfl.ch/entities/publication/22b4b3d5-07af-47e6-9e57-9100a8e379cf

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Jan Skaloud
2025

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/22b4b3d5-07af-47e6-9e57-9100a8e379cf

About this result

Related concepts (32)

GNSS augmentation

Augmentation of a global navigation satellite system (GNSS) is a method of improving the navigation system's attributes, such as precision, reliability, and availability, through the integration of external information into the calculation process. There are many such systems in place, and they are generally named or described based on how the GNSS sensor receives the external information.

Satellite navigation device

A satellite navigation device, satnav device or satellite navigation receiver is a user equipment that uses one or more of several global navigation satellite systems (GNSS) to calculate the device's geographical position and provide navigational advice. Depending on the software used, the satnav device may display the position on a map, as geographic coordinates, or may offer routing directions. four GNSS systems are operational: the original United States' Global Positioning System (GPS), the European Union's Galileo, Russia's GLONASS, and China's BeiDou Navigation Satellite System.

Vehicle dynamics

For motorized vehicles, such as automobiles, aircraft, and watercraft, vehicle dynamics is the study of vehicle motion, e.g., how a vehicle's forward movement changes in response to driver inputs, propulsion system outputs, ambient conditions, air/surface/water conditions, etc. Vehicle dynamics is a part of engineering primarily based on classical mechanics. The aspects of a vehicle's design which affect the dynamics can be grouped into drivetrain and braking, suspension and steering, distribution of mass, aerodynamics and tires.

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Developments in (Vehicle Dynamic) Model Based Drone Navigation

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