{"title":"Offline Navigation (Homing) of Aerial Vehicles (Quadcopters) in GPS Denied Environments","authors":"Mainak Mondal, S. Poslavskiy","doi":"10.1142/s2301385021500102","DOIUrl":null,"url":null,"abstract":"This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Unmanned Syst.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1142/s2301385021500102","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.
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