Mostafa Mohamed Ahmed , Mahmoud A. Shawky , Shady Zahran , Adel Moussa , Naser EL-Shimy , Adham A. Elmahallawy , Shuja Ansari , Syed Tariq Shah , Ahmed Gamal Abdellatif
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引用次数: 0
Abstract
Motivated by the challenge of achieving precise 3D outdoor localisation for unmanned aerial vehicles (UAVs) in global navigation satellite system (GNSS)-denied environments, this paper introduces an innovative technique. Integrating crowd-sensed data fusion to counter inertial navigation system (INS) drift during GNSS signal outages, the proposed method exploits diverse estimators to enhance its efficacy. A micro lightweight frequency modulated continuous wave (FMCW) radar mounted on the UAV captures ground scatterer reflections, processed via fast Fourier transform (FFT) to generate a range-Doppler map. This map facilitates forward velocity estimation during GNSS signal loss. This approach employs adaptive thresholding, image binarisation, and connected components-based techniques for target detection from a computer vision standpoint. The derived radar-based velocity fuses with magnetometer, barometer, and inertial measurement unit (IMU) data using diverse estimators like extended Kalman filter (EKF) and particle filter (PF). Real-time flight data evaluation and simulated outage periods using EKF and PF validate the outdoor localisation system. Experimental analyses demonstrate substantial improvements, enhancing 3D positioning accuracy by 99.89% and 99.83% for the initial and subsequent flights, respectively, leveraging PF to fortify the standalone INS mode during GNSS signal loss. This approach significantly enhances UAV localisation precision, particularly in challenging GNSS-denied scenarios, showcasing the potential for real-world applications.
期刊介绍:
PHYCOM: Physical Communication is an international and archival journal providing complete coverage of all topics of interest to those involved in all aspects of physical layer communications. Theoretical research contributions presenting new techniques, concepts or analyses, applied contributions reporting on experiences and experiments, and tutorials are published.
Topics of interest include but are not limited to:
Physical layer issues of Wireless Local Area Networks, WiMAX, Wireless Mesh Networks, Sensor and Ad Hoc Networks, PCS Systems; Radio access protocols and algorithms for the physical layer; Spread Spectrum Communications; Channel Modeling; Detection and Estimation; Modulation and Coding; Multiplexing and Carrier Techniques; Broadband Wireless Communications; Wireless Personal Communications; Multi-user Detection; Signal Separation and Interference rejection: Multimedia Communications over Wireless; DSP Applications to Wireless Systems; Experimental and Prototype Results; Multiple Access Techniques; Space-time Processing; Synchronization Techniques; Error Control Techniques; Cryptography; Software Radios; Tracking; Resource Allocation and Inference Management; Multi-rate and Multi-carrier Communications; Cross layer Design and Optimization; Propagation and Channel Characterization; OFDM Systems; MIMO Systems; Ultra-Wideband Communications; Cognitive Radio System Architectures; Platforms and Hardware Implementations for the Support of Cognitive, Radio Systems; Cognitive Radio Resource Management and Dynamic Spectrum Sharing.