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.


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    Titel :

    Multipath-Optimal UAV Trajectory Planning for Urban UAV Navigation with Cellular Signals


    Beteiligte:
    Ragothaman, Sonya (Autor:in) / Maaref, Mahdi (Autor:in) / Kassas, Zaher M. (Autor:in)


    Erscheinungsdatum :

    01.09.2019


    Format / Umfang :

    2098144 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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