TY - GEN
T1 - Particle filter based multi-sensor data fusion techniques for RPAS navigation and guidance
AU - Cappello, Francesco
AU - Sabatini, Roberto
AU - Ramasamy, Subramanian
AU - Marino, Matthew
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/5
Y1 - 2015/8/5
N2 - This paper presents a Particle Filter (PF) based Multi-Sensor Data Fusion (MSDF) technique in an integrated Navigation and Guidance System (NGS) design based on low-cost avionics sensors. The performance of PF based MSDF method is compared with other previously implemented data fusion architectures for small-sized Remotely Piloted Aircraft Systems (RPAS). The sensor suite of the implemented NGS includes; Global Navigation Satellite System (GNSS) sensor, which is adopted as the primary means of navigation, Micro-ElectroMechanical System (MEMS) based Inertial Measuring Unit (IMU) and Vision-Based Navigation (VBN) sensor. Additionally, an Aircraft Dynamics Model (ADM) is used as a virtual sensor to compensate for the MEMS-IMU sensor shortcomings in high-dynamics attitude determination tasks. The PF is specifically implemented to increase the accuracy of navigation solution obtained from the inherently inaccurate, low-cost Commercial-Off-The-Shelf (COTS) sensors. Simulations are carried out on the AEROSONDE RPAS performing high-dynamics manoeuvres representative of the RPAS operational flight envelope. The Extended Kalman Filter (EKF) based VBN-IMU-GNSS-ADM (E-VIGA) system, Unscented Kalman Filter (UKF) based U-VIGA system and the PF based P-VIGA system performances are evaluated and compared. Additionally, an error covariance analysis is performed on the centralised filter using Monte Carlo simulation. Results indicate that the PF is computationally expensive as the number of particles is increased. Compared to E-VIGA and U-VIGA systems, P-VIGA system shows an improvement of accuracy in the position, velocity and attitude measurements.
AB - This paper presents a Particle Filter (PF) based Multi-Sensor Data Fusion (MSDF) technique in an integrated Navigation and Guidance System (NGS) design based on low-cost avionics sensors. The performance of PF based MSDF method is compared with other previously implemented data fusion architectures for small-sized Remotely Piloted Aircraft Systems (RPAS). The sensor suite of the implemented NGS includes; Global Navigation Satellite System (GNSS) sensor, which is adopted as the primary means of navigation, Micro-ElectroMechanical System (MEMS) based Inertial Measuring Unit (IMU) and Vision-Based Navigation (VBN) sensor. Additionally, an Aircraft Dynamics Model (ADM) is used as a virtual sensor to compensate for the MEMS-IMU sensor shortcomings in high-dynamics attitude determination tasks. The PF is specifically implemented to increase the accuracy of navigation solution obtained from the inherently inaccurate, low-cost Commercial-Off-The-Shelf (COTS) sensors. Simulations are carried out on the AEROSONDE RPAS performing high-dynamics manoeuvres representative of the RPAS operational flight envelope. The Extended Kalman Filter (EKF) based VBN-IMU-GNSS-ADM (E-VIGA) system, Unscented Kalman Filter (UKF) based U-VIGA system and the PF based P-VIGA system performances are evaluated and compared. Additionally, an error covariance analysis is performed on the centralised filter using Monte Carlo simulation. Results indicate that the PF is computationally expensive as the number of particles is increased. Compared to E-VIGA and U-VIGA systems, P-VIGA system shows an improvement of accuracy in the position, velocity and attitude measurements.
KW - Aircraft Dynamics Model
KW - Global Navigation Satellite System
KW - Low-Cost Avionics Sensors
KW - Particle Filter
KW - Remotely Piloted Aircraft Systems
KW - Unscented Kalman Filter
UR - http://www.scopus.com/inward/record.url?scp=84941360523&partnerID=8YFLogxK
U2 - 10.1109/MetroAeroSpace.2015.7180689
DO - 10.1109/MetroAeroSpace.2015.7180689
M3 - Conference contribution
AN - SCOPUS:84941360523
T3 - 2nd IEEE International Workshop on Metrology for Aerospace, MetroAeroSpace 2015 - Proceedings
SP - 395
EP - 400
BT - 2nd IEEE International Workshop on Metrology for Aerospace, MetroAeroSpace 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Workshop on Metrology for Aerospace, MetroAeroSpace 2015
Y2 - 3 June 2015 through 5 June 2015
ER -