scholarly journals Enhanced Drone Navigation in GNSS Denied Environment Using VDM and Hall Effect Sensor

2019 ◽  
Vol 8 (4) ◽  
pp. 169 ◽  
Author(s):  
Shady Zahran ◽  
Adel Moussa ◽  
Naser El-Sheimy
Keyword(s):  
Hall Effect ◽  
Low Cost ◽  
Integrated System ◽  
Global Navigation Satellite Systems ◽  
Satellite Systems ◽  
Hall Effect Sensor ◽  
Aerial Vehicle ◽  
Heading Estimation ◽  
Global Navigation Satellite ◽  
Vehicle Dynamic Model

The last decade has witnessed a wide spread of small drones in many civil and military applications. With the massive advancement in the manufacture of small and lightweight Inertial Navigation System (INS), navigation in challenging environments became feasible. Navigation of these small drones mainly depends on the integration of Global Navigation Satellite Systems (GNSS) and INS. However, the navigation performance of these small drones deteriorates quickly when the GNSS signals are lost, due to accumulated errors of the low-cost INS that is typically used in these drones. During GNSS signal outages, another aiding sensor is required to bound the drift exhibited by the INS. Before adding any additional sensor on-board the drones, there are some limitations that must be taken into considerations. These limitations include limited availability of power, space, weight, and size. This paper presents a novel unconventional method, to enhance the navigation of autonomous drones in GNSS denied environment, through a new utilization of hall effect sensor to act as flying odometer “Air-Odo” and vehicle dynamic model (VDM) for heading estimation. The proposed approach enhances the navigational solution by estimating the unmanned aerial vehicle (UAV) velocity, and heading and fusing these measurements in the Extended Kalman Filter (EKF) of the integrated system.

The Seven Ways to Find Heading

2016 ◽  
Vol 69 (5) ◽  
pp. 955-970 ◽  
Author(s):  
Kenneth Gade
Keyword(s):  
Low Cost ◽  
Magnetic Compass ◽  
Global Navigation Satellite Systems ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Satellite Systems ◽  
Vehicle Motion ◽  
Heading Estimation ◽  
Global Navigation Satellite ◽  
The Given

A magnetic compass has too large a heading error for many applications, and it is often not obvious how to achieve an accurate heading, in particular for low-cost navigation systems. However, there are several different methods available for finding heading, and their feasibility depends on the given scenario. Some of the methods may seem very different, but they can all be related and categorised into a list by studying the vector that each method is using when achieving heading. A list of possible methods is very useful when ensuring that all relevant methods are being considered for a given application. For practical navigation, we have identified seven different vectors in use for heading estimation, and we define seven corresponding methods. The methods are magnetic and gyrocompass, two methods based on observations, multi-antenna Global Navigation Satellite Systems (GNSS), and two methods based on vehicle motion.

scholarly journals A Test on the Potential of a Low Cost Unmanned Aerial Vehicle RTK/PPK Solution for Precision Positioning

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3882
Author(s):  
Nicola Angelo Famiglietti ◽  
Gianpaolo Cecere ◽  
Carmine Grasso ◽  
Antonino Memmolo ◽  
Annamaria Vicari
Keyword(s):  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Low Cost ◽  
Global Navigation Satellite Systems ◽  
Precision Positioning ◽  
Satellite Systems ◽  
Real Time Kinematic ◽  
Alloy Base ◽  
Aerial Vehicle ◽  
Global Navigation Satellite

This paper investigated the achievable accuracy from a low-cost RTK (Real Time Kinematic)/PPK (Post Processing Kinematic) GNSS (Global Navigation Satellite Systems) system installed on board a UAV (Unmanned Aerial Vehicle), employing three different types of GNSS Bases (Alloy, RS2 and RING) working in PPK mode. To evaluate the quality of the results, a set of seven GCPs (Ground Control Points) measured by means of the NRTK (Network Real Time Kinematic) technique was used. The outcomes show a RMSE (Root Mean Square Error) of 0.0189 m for an ALLOY Base, 0.0194 m for an RS2 Base and 0.0511 m for RING Base, respectively, on the vertical value of DEMs (Digital Elevation Models) obtained by a photogrammetric process. This indicates that, when changing the Base for the PPK, the solutions are different, but they can still be considered adequate for precision positioning with UAVs, especially when GCPs could be used with some difficulty. Therefore, the integration of a RTK/PPK GNSS module on a UAV allows the reconstruction of a highly detailed and precise DEM without using GCPs and provides the possibility to carry out surveys in inaccessible areas.

scholarly journals A Surface KInematics Buoy (SKIB) for wave-current interactions studies

2018 ◽  
Author(s):  
Pedro Veras Guimarães ◽  
Fabrice Ardhuin ◽  
Peter Sutherland ◽  
Mickael Accensi ◽  
Michel Hamon ◽  
...  
Keyword(s):  
Low Cost ◽  
Short Wave ◽  
Global Navigation Satellite Systems ◽  
Motion Sensor ◽  
Satellite Systems ◽  
Ocean Surface Waves ◽  
Sensing Applications ◽  
Hull Design ◽  
Sensor Package ◽  
Global Navigation Satellite

Abstract. Global Navigation Satellite Systems (GNSS) and modern motion-sensor packages allow the measurement of ocean surface waves with low-cost drifters. Drifting along or across current gradients provides unique measurements of wave-current interactions. In this study, we investigate the response of several combinations of GNSS receiver, motion-sensor package and hull design in order to define a prototype surface kinematic buoy (SKIB) that is particularly optimized for measuring wave-current interactions, including relatively short wave components (relative frequency around 1 Hz) that are important for air-sea interactions and remote sensing applications. The comparison with existing Datawell Directional Waverider and SWIFT buoys, as well as stereo-video imagery demonstrates the accuracy of SKIB. The use of low-cost accelerometers and a spherical ribbed and skirted hull design provide acceptable heave spectra, while velocity estimates from GNSS receivers yield a mean direction and directional spread. Using a low-power acquisition board allows autonomous deployments over several months with data transmitted by satellite. The capability to measure current-induced wave variations is illustrated with data acquired in a macro-tidal coastal environment.

scholarly journals Centimeter-Level Recording for All: Field Experimentation with New, Affordable Geolocation Technology

2019 ◽  
Vol 7 (4) ◽  
pp. 353-365 ◽  
Author(s):  
Peter J. Cobb ◽  
Tiffany Earley-Spadoni ◽  
Philip Dames
Keyword(s):  
Spatial Data ◽  
Field Data ◽  
Low Cost ◽  
Field Application ◽  
Global Navigation Satellite Systems ◽  
Precise Location ◽  
Satellite Systems ◽  
Surface Survey ◽  
Field Experimentation ◽  
Global Navigation Satellite

AbstractThe methodical recording and representation of spatial data are central to archaeological fieldwork and research. Until recently, centimeter-level precise geolocation equipment was the exclusive domain of researchers who could afford setups costing tens of thousands of dollars. However, high-quality measurements are being made more accessible by rapidly evolving technologies. These new tools, when used together with mobile technology for efficiently recording field data, open up the possibility of capturing the precise location of every find during an archaeological surface survey. An important step in reaching the desired outcome—centimeter-level recording for all—is experimentation with a variety of emerging low-cost setups. Accordingly, we tested the Reach and Reach RS, differential global navigation satellite systems (dGNSS) equipment produced by the company Emlid, during a surface survey in Armenia in June 2018. Our field application demonstrates that the use of dGNSS is already possible and that the described advances in precision enable improved recording and representation of spatial data.

scholarly journals Low cost GNSS receivers in time synchronization systems

2018 ◽  
Vol 67 (1) ◽  
pp. 65-72
Author(s):  
Grzegorz Czopik ◽  
Tomasz Kraszewski
Keyword(s):  
Time Synchronization ◽  
Low Cost ◽  
Global Navigation Satellite Systems ◽  
Satellite Systems ◽  
Time Frequency ◽  
Delay Times ◽  
Gnss Receivers ◽  
Frequency Counter ◽  
The One ◽  
Global Navigation Satellite

The GNSS (GNSS — Global Navigation Satellite Systems) receivers can be utilized to obtain accurate time markers. The preliminary results of the cheap GNSS receivers’ tests are presented in the paper. The one receiver’s price (including antenna) does not exceed 30 $. The studies on the use of receivers in the time synchronization systems were executed. Three identical models of receiver modules were used. The 1PPS (1PPS — 1 Pulse Per Second) signals available on the receiver’s output were used. The 1PPS’s main time characteristics were described. Delay times between different receivers 1PPS signals were measured. Measurements were taken using 1 GHz oscilloscope and precise time/frequency counter T3200U. Keywords: time synchronization, 1PPS, GNSS, GPS time

GNSS Guidance for All Phases of Flight: Practical Results

2001 ◽  
Vol 54 (1) ◽  
pp. 1-13
Author(s):  
S. J. Leighton ◽  
A. E. McGregor ◽  
D. Lowe ◽  
A. Wolfe ◽  
A. A. Macaulay
Keyword(s):  
Service Providers ◽  
Low Cost ◽  
Air Traffic ◽  
Global Navigation Satellite Systems ◽  
European Symposium ◽  
Navigation Satellite ◽  
Satellite Systems ◽  
The Third ◽  
Potential Benefits ◽  
Global Navigation Satellite

This, and the following three papers, were first presented at GNSS 2000, the Third European Symposium on Global Navigation Satellite Systems held in Edinburgh, Scotland from 1st to 4th May 2000.GNSS, or more specifically, Satellite Based Augmentation System (SBAS), guidance provides the prospect of a low-cost means for aircraft to become equipped to fly area navigation (RNAV) operations. The implementation of such RNAV operations within UK airspace offers potential benefits to both the airline operators and the Air Traffic Service Providers (ATSPs).

scholarly journals UAVS ENHANCED NAVIGATION IN OUTDOOR GNSS DENIED ENVIRONMENT USING UWB AND MONOCULAR CAMERA SYSTEMS

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 665-672 ◽  
Author(s):  
S. Zahran ◽  
A. Masiero ◽  
M. M. Mostafa ◽  
A. M. Moussa ◽  
A. Vettore ◽  
...  
Keyword(s):  
Navigation System ◽  
Low Cost ◽  
Global Navigation Satellite Systems ◽  
Ultra Wideband ◽  
Measurement Unit ◽  
Satellite Systems ◽  
Monocular Camera ◽  
Camera Systems ◽  
Global Navigation Satellite ◽  
The Cost

<p><strong>Abstract.</strong> The demand for small Unmanned Aerial Vehicles (UAVs) is massively increasing these days, due to the wide variety of applications utilizing such vehicles to perform tasks that may be dangerous or just to save time, effort, or cost. Small UAVs navigation system mainly depends on the integration between Global Navigation Satellite Systems (GNSS) and Inertial Measurement Unit (INS) to estimate the Positions, Velocities, and Attitudes (PVT) of the vehicle. Without GNSS such UAVs cannot navigate for long periods of time depending on INS alone, as the low-cost INS typically exhibits massive accumulation of errors during GNSS absence. Given the importance of ensuring full operability of the UAVs even during GNSS signals unavailability, other sensors must be used to bound the INS errors and enhance the navigation system performance. This paper proposes an enhanced UAV navigation system based on integration between monocular camera, Ultra-Wideband (UWB) system, and INS. In addition to using variable EKF weighting scheme. The paper also investigates this integration in the case of low density of UWB anchors, to reduce the cost required for such UWB system infrastructure. A GoPro Camera and UWB rover were attached to the belly of a quadcopter, an on the shelf commercial drone (3DR Solo), during the experimental flight. The velocity of the vehicle is estimated with Optical Flow (OF) from camera successive images, while the range measurements between the UWB rover and the stationary UWB anchors, which were distributed on the field, were used to estimate UAV position.</p>

scholarly journals Indirect UAV Strip Georeferencing by On-Board GNSS Data under Poor Satellite Coverage

2019 ◽  
Vol 11 (15) ◽  
pp. 1765 ◽  
Author(s):  
Gianfranco Forlani ◽  
Fabrizio Diotri ◽  
Umberto Morra di Cella ◽  
Riccardo Roncella
Keyword(s):  
Low Cost ◽  
Global Navigation Satellite Systems ◽  
Case Scenario ◽  
Worst Case ◽  
Satellite Systems ◽  
Ground Control Points ◽  
Flight Height ◽  
Camera Position ◽  
Global Navigation Satellite ◽  
Gnss Data

The so-called Real Time Kinematic (RTK) option, which allows one to determine with cm-level accuracy the Unmanned Aerial Vehicles (UAV) camera position at shooting time, is also being made available on medium- or low-cost drones. It can be foreseen that a sizeable amount of UAV surveys will be soon performed (almost) without Ground Control Points (GCP). However, obstacles to Global Navigation Satellite Systems (GNSS) signal at the optimal flight altitude might prevent accurate retrieval of camera station positions, e.g., in narrow gorges. In such cases, the master block can be georeferenced by tying it to an (auxiliary) block flown at higher altitude, where the GNSS signal is not impeded. To prove the point in a worst case scenario, but under controlled conditions, an experiment was devised. A single strip about 700 m long, surveyed by a multi-copter at 30 m relative flight height, was referenced with cm-level accuracy by joint adjustment with a block flown at 100 m relative flight height, acquired by a fixed-wing UAV provided with RTK option. The joint block orientation was repeated with or without GCP and with pre-calibrated or self-calibrated camera parameters. Accuracy on ground was assessed on a fair number of Check Points (CP). The results show that, even without GCP, the precision is effectively transferred from the auxiliary block projection centres to the object point horizontal coordinates and, with a pre-calibrated camera, also to the elevations.

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