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A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification

The 3rd R&D Institute 3rd Center, Agency for Defense Development, Daejeon 34061, Korea
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Remote Sens. 2020, 12(9), 1396; https://doi.org/10.3390/rs12091396
Received: 26 March 2020 / Revised: 24 April 2020 / Accepted: 26 April 2020 / Published: 28 April 2020
(This article belongs to the Section Engineering Remote Sensing)
Autonomous unmanned aerial vehicles (UAVs) require highly reliable navigation information. Generally, navigation systems with the inertial navigation system (INS) and global navigation satellite system (GNSS) have been widely used. However, the GNSS is vulnerable to jamming and spoofing. The terrain referenced navigation (TRN) technique can be used to solve this problem. In this study, to obtain reliable navigation information even if a GNSS is not available or the degree of terrain roughness is not determined, we propose a federated filter based INS/GNSS/TRN integrated navigation system. We also introduce a TRN system that combines batch processing and an auxiliary particle filter to ensure stable flight of UAVs even in a long-term GNSS-denied environment. As an altimeter sensor for the TRN system, an interferometric radar altimeter (IRA) is used to obtain reliable navigation accuracy in high altitude flight. In addition, a parallel computing technique with general purpose computing on graphics processing units (GPGPU) is applied to process a high resolution terrain database and a nonlinear filter in real-time on board. Finally, the performance of the proposed system is verified through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment. View Full-Text
Keywords: terrain referenced navigation (TRN); federated filter; INS/GNSS/TRN integrated navigation; interferometric radar altimeter (IRA); batch processing; auxiliary particle filter; digital elevation model (DEM); graphics processing units (GPGPU); software-in-the-loop (SIL); captive flight test terrain referenced navigation (TRN); federated filter; INS/GNSS/TRN integrated navigation; interferometric radar altimeter (IRA); batch processing; auxiliary particle filter; digital elevation model (DEM); graphics processing units (GPGPU); software-in-the-loop (SIL); captive flight test
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MDPI and ACS Style

Lee, J.; Sung, C.-K.; Oh, J.; Han, K.; Lee, S.; Yu, M.-J. A Pragmatic Approach to the Design of Advanced Precision Terrain-Aided Navigation for UAVs and Its Verification. Remote Sens. 2020, 12, 1396.

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