Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3/W3, 299-306, 2015
© Author(s) 2015. This work is distributed
under the Creative Commons Attribution 3.0 License.
19 Aug 2015
J. Navarro1, M. E. Parés1, I. Colomina2, G. Bianchi3, S. Pluchino3, R. Baddour4, A. Consoli5, J. Ayadi5, A. Gameiro6, O. Sekkas7, V. Tsetsos7, T. Gatsos7, and R. Navoni8 1CTTC. Av. Carl Friedrich Gauss 7 – Building B4, E-08860 Castelldefels, Spain
2GeoNumerics, S.L., Av. Carl Friedrich Gauss 11 – Building B6, E-08860 Castelldefels, Spain
3Istituto Nazionale di Astrofisica - Istituto di Radioastronomia. Via Fiorentina 3513, 40059 Medicina, Italy
4Saphyrion Sagl. Strada Regina 16, CH-6934 Bioggio, Switzerland
5Eclexys Sagl. Via dell’inglese 6, CH-6826 Riva San Vitale, Switzerland
6Brightcom lda. Rua Afonso Lima 8, F. Foz, Portugal
7Mobics S.A. Kifisias 27, 11523, Athens, Greece
8aser Navigation SRL, Via Matteotti 34, 24054 Calcio (BG), Italy
Keywords: UAV, reliable navigation, redundant IMUs, GNSS beamforming, close coupling Abstract. This paper presents the current results for the FP7 GINSEC project. Its goal is to build a pre-commercial prototype of a low-cost, accurate and reliable system for the professional UAV market. Low-cost, in this context, stands for the use of sensors in the most affordable segment of the market, especially MEMS IMUs and GNSS receivers. Reliability applies to the ability of the autopilot to cope with situations where unfavourable GNSS reception conditions or strong electromagnetic fields make the computation of the position and / or attitude of the UAV difficult. Professional and accurate mean that, at least using post-processing techniques as PPP, it will be possible to reach cm-level precisions that open the door to a range of applications demanding high levels of quality in positioning, as precision agriculture or mapping. To achieve such goal, a rigorous sensor error modelling approach, the use of redundant IMUs and a dual-GNSS receiver setup, together with close-coupling techniques and an extended Kalman filter with self-analysis capabilities have been used. Although the project is not yet complete, the results obtained up to now prove the feasibility of the aforementioned goal, especially in those aspects related to position determination. Research work is still undergoing to estimate the heading using a dual-GNNS receiver setup; preliminary results prove the validity of this approach for relatively long baselines, although positive results are expected when these are shorter than 1 m – which is a necessary requisite for small-sized UAVs.
Conference paper (PDF, 1099 KB)

Citation: Navarro, J., Parés, M. E., Colomina, I., Bianchi, G., Pluchino, S., Baddour, R., Consoli, A., Ayadi, J., Gameiro, A., Sekkas, O., Tsetsos, V., Gatsos, T., and Navoni, R.: A REDUNDANT GNSS-INS LOW-COST UAV NAVIGATION SOLUTION FOR PROFESSIONAL APPLICATIONS, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3/W3, 299-306, doi:10.5194/isprsarchives-XL-3-W3-299-2015, 2015.

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