Evaluation of Navigation and Trajectory-following Capabilities of Small Unmanned Aerial Systems

Edwin Meriaux, Kshitij Jerath
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引用次数: 3

Abstract

Use cases for Small Unmanned Aerial Systems (sUAS) have expanded significantly over the past few years. One use case that is relevant to both civilian and defense missions is reliable operation in GPS-denied indoor and subterranean (subT) environments such as urban underground, tunnel systems, and cave networks. While many sUAS evaluation studies exist for outdoor environments, there have been limited studies to evaluate the characteristics of sUAS in GPS-denied indoor and subT environments. This paper attempts to resolve this knowledge gap by presenting a methodology for evaluating the navigation performance of sUAS in such environments, including operations such as waypoint navigation, path traversal, trajectory keeping, and navigation around corners. Specifically, we determine and present results for the navigation performance of five commercially available sUAS via the presented evaluation methodology.
小型无人机系统导航和轨迹跟踪能力评估
在过去几年中,小型无人机系统(sUAS)的用例已经显著扩展。与民用和国防任务相关的一个用例是在不使用gps的室内和地下(subT)环境(如城市地下、隧道系统和洞穴网络)中可靠运行。虽然存在许多针对室外环境的sUAS评估研究,但评估不含gps的室内和亚t环境中sUAS特性的研究有限。本文试图通过提出一种评估sUAS在这种环境下导航性能的方法来解决这一知识差距,包括航路点导航、路径穿越、轨迹保持和拐角导航等操作。具体而言,我们通过所提出的评估方法确定并呈现了五种商用sUAS的导航性能结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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