Multipath-Optimal UAV Trajectory Planning for Urban UAV Navigation with Cellular Signals
Multipath-Optimal UAV Trajectory Planning for Urban UAV Navigation with Cellular Signals
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DOI：
10.1109/vtcfall.2019.8891218
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发表时间：
2019-09
期刊：
影响因子：
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通讯作者：
S. Ragothaman;Mahdi Maaref;Z. Kassas
中科院分区：
文献类型：
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作者：
S. Ragothaman;Mahdi Maaref;Z. Kassas
研究了城市环境下无人机的轨迹规划问题。无人机配备了三维（3-D）环境地图，通过融合全球导航卫星系统（GNSS）信号与周围蜂窝信号的机会来导航。发展了一种轨迹规划方法，以允许UAV到达目标位置，同时将其位置不确定性和蜂窝伪距中的多径引起的偏差约束为低于期望阈值。实验结果表明，以下建议的轨迹产生的位置均方根误差和最大位置误差，分别减少30.69%和58.86%，相比，以下的起始和目标位置之间的最短轨迹。
Unmanned aerial vehicle (UAV) trajectory planning in urban environments is considered. Equipped with a three- dimensional (3-D) environment map, the UAV navigates by fusing global navigation satellite systems (GNSS) signals with ambient cellular signals of opportunity. A trajectory planning approach is developed to allow the UAV to reach a target location, while constraining its position uncertainty and multipath- induced biases in cellular pseudoranges to be below a desired threshold. Experimental results are presented demonstrating that following the proposed trajectory yields a reduction of 30.69% and 58.86% in the position root-mean squared error and the maximum position error, respectively, compared to following the shortest trajectory between the start and target locations.