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dc.contributor.authorGryte, Kristoffer
dc.contributor.authorBryne, Torleiv Håland
dc.contributor.authorAlbrektsen, Sigurd Mørkved
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2019-11-25T10:42:27Z
dc.date.available2019-11-25T10:42:27Z
dc.date.created2019-11-23T12:30:17Z
dc.date.issued2019
dc.identifier.isbn978-1-7281-0333-4
dc.identifier.urihttp://hdl.handle.net/11250/2630222
dc.description.abstractUnmanned 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.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartof2019 International Conference on Unmanned Aircraft Systems (ICUAS)
dc.titleField Test Results of GNSS-denied Inertial Navigation aided by Phased-array Radio Systems for UAVsnb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.identifier.doi10.1109/ICUAS.2019.8798057
dc.identifier.cristin1751320
dc.relation.projectNorges forskningsråd: 221666nb_NO
dc.relation.projectNorges forskningsråd: 250725nb_NO
dc.relation.projectNorges forskningsråd: 269480nb_NO
dc.relation.projectNorges forskningsråd: 223254nb_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.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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