dc.contributor.author | Gryte, Kristoffer | |
dc.contributor.author | Bryne, Torleiv Håland | |
dc.contributor.author | Albrektsen, Sigurd Mørkved | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2019-11-25T10:42:27Z | |
dc.date.available | 2019-11-25T10:42:27Z | |
dc.date.created | 2019-11-23T12:30:17Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 978-1-7281-0333-4 | |
dc.identifier.uri | http://hdl.handle.net/11250/2630222 | |
dc.description.abstract | Unmanned aerial vehicles (UAVs) often depend on global navigation satellite systems (GNSS) and magnetic compasses for navigation, making them exposed to malicious attacks and sensitive to magnetic anomalies, while restricting operations to within GNSS coverage. By rather relying on inertial navigation aided by spherical position measurements from a phased-array radio system (PARS), these vulnerabilities are avoided. The navigation system relies on a multiplicative extended Kalman filter for state corrections, and on outlier rejection to mitigate effects of radio reflections. Field testing shows that, despite the higher levels of noise in the PARS signal, the PARS-based position, velocity and attitude estimates are satisfactory when compared to the autopilot based attitude and velocity and the real-time kinematic (RTK) GNSS position reference solution. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 2019 International Conference on Unmanned Aircraft Systems (ICUAS) | |
dc.title | Field Test Results of GNSS-denied Inertial Navigation aided by Phased-array Radio Systems for UAVs | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.1109/ICUAS.2019.8798057 | |
dc.identifier.cristin | 1751320 | |
dc.relation.project | Norges forskningsråd: 221666 | nb_NO |
dc.relation.project | Norges forskningsråd: 250725 | nb_NO |
dc.relation.project | Norges forskningsråd: 269480 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |