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Enabling robust and accurate navigation for UAVs using real-time GNSS precise point positioning and IMU integration

Part of: International Symposium on Smart Aircraft 2019 Collection Smart Aircraft

Published online by Cambridge University Press:  19 October 2020

C. Chi Open the ORCID record for C. Chi [Opens in a new window] ,
X. Zhan Open the ORCID record for X. Zhan [Opens in a new window] ,
S. Wang Open the ORCID record for S. Wang [Opens in a new window]  and
Y. Zhai Open the ORCID record for Y. Zhai [Opens in a new window]
C. Chi
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
X. Zhan*
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
S. Wang
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
Y. Zhai
Affiliation:
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
*
xqzhan@sjtu.edu.cn
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Abstract

Accurate navigation is required in many Unmanned Aerial Vehicle (UAV) applications. In recent years, GNSS Precise Point Positioning (PPP) has been recognised as an efficient approach for providing precise positioning services. In contrast to the widely used Real-Time Kinematic (RTK), PPP is independent of reference stations, which greatly broadens its scope of application. However, the accuracy and reliability of PPP can be significantly decreased by poor GNSS satellite geometry and outage. In response, a real-time four-constellation GNSS PPP is applied to improve the geometry in this work, and PPP is tightly coupled with an Inertial Measurement Unit (IMU) to smooth the position and velocity output, thus improving the robustness of the navigation solution. Experimental flight tests are carried out using a UAV in an open-sky area, and GNSS-challenged environments are simulated. The results show that the four-constellation GNSS PPP/IMU integration reduces the Root-Mean-Square (RMS) Three-Dimensional (3D) positioning and velocity error by 76.4% and 67.1%, respectively, in open sky with respect to the one-GNSS PPP. Under scenarios where GNSS measurements are insufficient, the coupled system can still provide continuous solutions. Moreover, the coupled PPP/IMU system can also maintain the convergence of PPP during GNSS-challenged periods and can greatly shorten the re-convergence period of PPP when the UAV returns to the open sky.

Keywords

UAVReal-time precise point positioningMulti-GNSSPrecise ephemerisIMUTight integration
Type
Research Article
Information
The Aeronautical Journal , Volume 125 , Issue 1283 , January 2021 , pp. 87 - 108
Copyright
© The Author(s), 2020. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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