ICUAS 2020 Paper Abstract


Paper ThC2.5

Watanabe, Yoko (ONERA), Manecy, Augustin (ONERA), Amiez, Alexandre (ONERA), Aoki, Shin (RICOH Co. Ltd.), Nagai, Sho (RICOH Co. Ltd.)

Fault-Tolerant Final Approach Navigation for a Fixed-Wing UAV by Using Long-Range Stereo Camera System

Scheduled for presentation during the Regular Session "Fail-Safe Systems" (ThC2), Thursday, September 3, 2020, 18:20−18:40, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Fail-Safe Systems, Navigation, Sensor Fusion


This paper presents an onboard vision/GNSS-integrated fault tolerant navigation system for aircraft final approach. The world-first long-range stereo camera system which captures an object and measures its distance up to 1 km has been developed, and implemented for runway feature detection. The navigation filter is designed based on time-delayed Error State Kalman filter for tightly coupling GNSS pseudo-range measurements with the stereo camera outputs. Then it is augmented with an integrity monitoring function for fault detection and protection level calculation. The whole navigation system has been evaluated on real sensor data sets, acquired on the ONERA experimental UAV, with GNSS fault emulation. The results show an improvement both in fault detectability and in navigation performance thanks to adding the stereo camera to the conventional GNSS navigation setup.



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