This paper discusses the use of single or dual aperture airborne laser range scanners (ALS) for terrain-referenced UAS navigation (TRN) during various phases of flight including en-route, descent, precision approach and low-altitude operations. With the increasing number of military and commercial UAS application, and the vulnerabilities associated with the Global Navigation Satellite Systems (GNSS), alternative self-contained navigation systems have become of more interest to the UAS community. In addition, the significant developments in the areas of lower size, weight, power and cost (SWaP-C) laser range scanners for the automotive and aerial mapping markets, the ALS has become a more mature and viable option for UAS operations. This paper extends previous work by the authors and discusses various filter mechanizations used to perform ALS-based terrain-referenced navigation in the context of performance-based navigation. It addresses the threat model of the ALS-based navigator and, thus, addresses issues related to the accuracy, availability, integrity and continuity for these methods. Finally, data collected with Ohio University's DC-3 aircraft over Athens, OH and NASA Dryden's DC-8 Flying over Reno, NV will be used to demonstrate the performance of these methods.
Assured UAS Navigation with Airborne Laser Range Scanners for Various Phases of Flight
01.09.2018
2668985 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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