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Differential GPS for small UAS using consumer-grade single-frequency receivers

Bolting, Jan and Defaÿ, François and Moschetta, Jean-Marc Differential GPS for small UAS using consumer-grade single-frequency receivers. (2013) In: International Micro Air Vehicle Conference and Flight Competition (IMAV2013), 17 September 2013 - 20 September 2013 (Toulouse, France).

(Document in English)

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Official URL: http://www.imav2013.org/index.php/component/phocadownload/category/4-scientific-session-4#


Consumer-grade single-frequency GPS receivers with their known limitations are the predominant means of localization for small Unmanned Aircraft Systems (UAS). More intricate maneuvers such as automatic landings require a level of accuracy this class of receivers does not provide. As a contribution to improve the positioning accuracy without sacrificing the low-cost approach of this class of vehicles, a Local Area Augmentation System (LAAS) has been developed, based on consumer-grade single-frequency miniature GPS receivers both for the base station and airborne positioning. On the part of the airborne receiver, the conventional approach of carrier phase smoothing has been extended by incorporating Doppler measurements to propagate the position during carrier phase signal outages or in the event of cycle slips. Pseudoranges and the augmented carrier phase observations are merged by means of an indirect linear Kalman filter in the position domain. The characteristics of the error state allow for some simplifications that reduce the computing effort of the filter. To evaluate the system’s performance under dynamic conditions, raw GPS data have been collected on a ground based moving platform and processed with Simulink. The results show a significantly improved 3D position accuracy compared to the standalone receiver solution.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > University of Braunschweig (GERMANY)
Laboratory name:
Deposited On:14 Jan 2014 10:53

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