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Drones 2019, 3(1), 11;

Sensitivity to Time Delays in VDM-Based Navigation

Geodetic Engineering Laboratory, École Polytechnique Fédérale de Lausanne, Route Cantonale, 1015 Lausanne, Switzerland
Author to whom correspondence should be addressed.
Received: 26 November 2018 / Revised: 21 December 2018 / Accepted: 4 January 2019 / Published: 14 January 2019
(This article belongs to the Special Issue UAS Navigation and Orientation)
PDF [1976 KB, uploaded 14 January 2019]


A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute time frame as inertial measurement unit (IMU) data and all other observations when available (e.g., global navigation satellite system (GNSS) position, barometric altitude, etc.). This study analyzes the (non-) tolerances of possible delays in control-input command with respect to navigation performance on a fixed-wing unmanned aerial vehicle (UAV). Multiple simulations using two emulated trajectories based on real flights reveal the vital importance of correct time-tagging of servo data while that of motor data turned out to be tolerable to a considerably large extent.
Keywords: vehicle dynamic model; navigation; time-tagging; delay; GNSS outage vehicle dynamic model; navigation; time-tagging; delay; GNSS outage
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Laupré, G.; Khaghani, M.; Skaloud, J. Sensitivity to Time Delays in VDM-Based Navigation. Drones 2019, 3, 11.

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