Global navigation satellite systems (GNSS) have made significant advancements in recent years, allowing for free access and the provision of more dependable services. However, the conventional method produces erroneou...
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ISBN:
(纸本)9798350373172;9798350373189
Global navigation satellite systems (GNSS) have made significant advancements in recent years, allowing for free access and the provision of more dependable services. However, the conventional method produces erroneous positions and has to be modified. This paper proposes a factor graph optimization for real-time positioning in unmanned driving. GNSS/INS provides precise measurements of position data with better accuracy and robustness, and the use of the iSAM algorithm minimizes costs while enhancing the accuracy of the algorithm. Through field tests, compared with the data that had been filtered using the Kalman filtering, the outcomes demonstrated that our real-time localization and algorithmic findings performed better than the Kalman filter fusion results in precision.
With the advancement of electronic warfare, the interference and antiinterference technologies for unmanned aerial vehicle (UAV) have garnered significant attention. This paper focuses on one-to-one air combat and exp...
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With the advancement of electronic warfare, the interference and antiinterference technologies for unmanned aerial vehicle (UAV) have garnered significant attention. This paper focuses on one-to-one air combat and explores the design of stealthy deception attacks against an enemy UAV system. Given that the UAV directly connects with its ground control station and receives information and commands from it, the attack signal is introduced into the communication channel between the UAV and its ground control station. To ensure the effectiveness of the stealth attack signal, it must avoid detection by the anomaly detector. The design of an effective stealthy attack signal involves using the residual of observations and the state estimation error. The stealthy attack signal is then crafted to ensure that the residual, whether under attack or not, is zero. Ultimately, a simulation is conducted to validate the effectiveness of the designed stealth attack signal.
This study investigates various aspects of fixedwing unmanned Aerial Vehicles (UAVs), from conceptual design to hardware implementation, focusing on control system development. Key UAV design characteristics and achie...
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With the continuous improvement of the precision of the inertial measurement unit (IMU), the error caused by the traditionally neglected disturbing gravity to the actual navigation cannot be ignored in the high-precis...
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The problem of constructing an element of the unmanned aerial vehicles autopilot that ensures the transfer of an object to the designated state in a finite, minimum time interval is considered. In contrast to existing...
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Nowadays, aerial and ground robots can be made cheaper and lighter which makes it possible to deploy them in large numbers and drone swarms have the potential to increase efficiency and safety in certain applications,...
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ISBN:
(纸本)9798350310375
Nowadays, aerial and ground robots can be made cheaper and lighter which makes it possible to deploy them in large numbers and drone swarms have the potential to increase efficiency and safety in certain applications, as well as provide new capabilities that would not be possible with a single drone. Successful implementation of swarm cooperative applications requires low-latency communications and real-time localization. In this paper, we proposed a cloud-based control system architecture to dynamically control the drone swarm or UAV formation in the 3D space using the mobile application. A group of UAVs determines their location using an integrated ultra-wideband module. The base station is connected to the cloud platform (google firebase in our case) which is again connected to a mobile app to get the position and formation commands directly from the user using an interactive interface. The base station will get these commands and position control information from the cloud. The base station then sends the next setpoint to each UAV, enabling UAVs to form a real-time user-controlled formation and fly autonomously until the next command. Our experiment results show that the latency in this architecture is in a range of 0.8 to 1.41 sec. with fixed anchors, the localization error is less than 5 cm.
Wireless Avionics Intra-Communications (WAIC) systems can enhance structural flexibility, while multirotor unmanned Aerial Vehicles (UAVs) continue to evolve into larger, more complex, and modular forms for advanced t...
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Wireless Avionics Intra-Communications (WAIC) systems can enhance structural flexibility, while multirotor unmanned Aerial Vehicles (UAVs) continue to evolve into larger, more complex, and modular forms for advanced tasks. Integrating WAIC within multirotor UAVs promises to unlock additional capabilities but also demands a solution to the multi-delay challenges intrinsic to WAIC. This paper introduces the Multi-Delay Mitigation Model Predictive control (MDM-MPC) framework, a robust approach to counteracting prevalent multi-delay issues in multirotor UAV WAIC systems. Experimental results reveal that the MDM-MPC framework significantly extends network delay tolerance, achieving an average of 21.25 ms with a variance of 167.19, and under disturbance conditions, an average of 8.75 ms with a variance of 17.19. These outcomes highlight the effectiveness of MDM-MPC in fortifying the reliability and performance of WAIC systems in multirotor UAV operations, thereby contributing to the advancement of aeronautical controltechnologies.
With the rapid development of unmanned Aerial Vehicle (UAV) technology, there is an increasing demand for efficient and reliable UAV visual cognitive navigationsystems. Adaptation zone selection technology is a prere...
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In response to the demand for precise ship motion control, considering the uncertainty of ship model information and external disturbances, the method of ship trajectory tracking control is proposed. Firstly, the char...
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We propose a 2D multi-source data-fusion SLAM system with visual-aided pose estimation, structured within a flexible triple-layer navigation framework. This system is tailored to optimize efficiency and accuracy in ro...
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