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International conference on unmanned Aircraft systems (ICUAS)

作者： Sopegno, Laura Pedone, Salvatore Rutherford, Matthew J. Livreri, Patrizia Valavanis, Kimon P. Univ Palermo Dept Informat & Commun Technol I-90133 Palermo Italy Univ Denver Dept Elect & Comp Sci Denver CO 80210 USA

ISBN: (纸本)9798350357899;9798350357882

unmanned Aerial Vehicles (UAVs) have been used for a wide range of civil and public domain applications, as well as for missions to Mars, during the last two decades. Multirotor UAV configurations, such as hexacopters, strike a balance between different design considerations, offering improved performance and reliability compared to other options. For autonomous exploration scenarios, Guidance, navigation, and control (GNC) subsystems play a critical role in ensuring hexacopter stability and autonomy, especially in GPS-denied environments. However, external disturbances and system uncertainties, such as sensor noise, directly impact both navigation accuracy and control integrity. To address this, two state observers, the Unknown Input Observer (UIO) and the Extended State Observer (ESO) are presented and analyzed. Performance evaluation and comparison of both observers, UIO and ESO, is conducted with a focus on estimating the states of a terrestrial flight hexacopter in the context of an autonomous navigation mission. The underlying hexacopter mathematical model includes external disturbances and system uncertainties, such as aerodynamic drag and sensor noise. The simulations are performed in a Matlab/Simulink environment. Both observers offer robust solutions for estimating system states and compensating for disturbances, and the superiority of the UIO when dealing with random sensor bias is demonstrated.

关键词： navigation

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Multi-View Joint Target Selection for Relativistic-Perturbed Starlight navigation

Multi-View Joint Target Selection for Relativistic-Perturbed...

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2024 IEEE International conference on unmanned systems, ICUS 2024

作者： Zhao, Yaru Ge, Dantong Xiong, Kai School of Aerospace Engineering Beijing Institute of Technology Beijing China Key Laboratory of Autonomous Navigation Control for Deep Space Exploration Beijing Institute of Technology Beijing China National Key Laboratory of Space Intelligent Control Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350384185

Autonomous navigation is one of the key technologies for spacecraft to realize long-term space operation and carry out science missions. In order to meet the requirement of high precision autonomous navigation, the effects of the gravitational deflection of light, stellar aberration and measurement bias of sensor are considered to establish a relativistic-perturbed starlight navigation scheme. To obtain high quality measurements, a multi-probe star sensor composed of multiple field of view probes is adopted for observation. A polygonal star pair selection method is proposed to conduct multi-view joint target selection. By constructing irregular polygons to select high quality star pair observations, the accuracy of navigation estimation is expected to be improved. The performance of relativistic-perturbed starlight navigation using the multi-view joint target selection method is then verified through a numerical simulation. © 2024 IEEE.

关键词： Probes

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Modeling and Analysis of Pathloss Effect on UAS Communication Signals 24

Modeling and Analysis of Pathloss Effect on UAS Communicatio...

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Integrated Communications, navigation and Surveillance conference (ICNS)

作者： Mishra, Lalan Benouadah, Selma Kaabouch, Naima Univ North Dakota Sch Elect Engn & Comp Sci Grand Forks ND 58202 USA

ISBN: (纸本)9798350393101;9798350393095

unmanned Aerial systems (UAS) present versatile and cost-effective solutions across a wide range of applications, ranging from search and rescue to emergency and accident management. UAS utilization continues to surge;therefore, it is increasingly vital to establish dependable communication links between the UAS control and Command (C2) systems and the ground control stations to ensure mission success. Many studies have explored the impacts of interference, such as pathloss, on conventional communication technologies;however, there is a noticeable knowledge gap related to understanding how this interference affects UAS communications. This study aimed to address this research gap by thoroughly investigating the impact of pathloss on the available bandwidth for UAS communications. Quantitative and qualitative evaluations were performed using the IQ constellation diagrams and Bit Error Rates (BERs) of the received signals. The results indicated that parameters such as UAS height, distance to ground stations, and modulation schemes impact IQ Constellations and BERs.

关键词： UAV UAS Communication Bandwidth availability Command and control (C2) Pathloss Propagation distance

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The Robotic control System of UAV Based on Artificial Intelligence technologies 9th

The Robotic Control System of UAV Based on Artificial Intell...

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9th International conference on Interactive Collaborative Robotics, ICR 2024

作者： Bayramov, Azad Suleymanov, Samir Abdullaev, Fatali Institute of Control Systems 68 B. Vahabzadeh Street BakuAZ1141 Azerbaijan Institute of Geology and Geophysics 119 H. Javid Aveune BakuAZ1143 Azerbaijan Republican Seismic Survey Center 25 Nigar Rafibeyli Street BakuAZ1001 Azerbaijan

ISBN: (纸本)9783031713590

The results of developing an algorithm for controlling and navigating an unmanned vehicle using the artificial intelligence method are presented in paper. The remote control in difficult conditions limits the capabilities of the unmanned aerial vehicle and reduces the efficiency of the entire system. In this case, the aircraft can perform tasks depending on the variability of external factors. An algorithm of the control has been developed for using a visual or inertial navigation system to determine the coordinate and time characteristics of an unmanned aerial vehicle in the event of non-functioning of the global satellite navigation system. The developed algorithm of the on-board computer itself determines the coordinate-time characteristics of the unmanned aerial vehicle in autonomous flight mode. The proposed algorithm and control architecture are applied to an unmanned aerial vehicle intended to perform a reconnaissance flight. Then, in the paper there have been presented the architecture of control and navigation system based on artificial intelligence for winged UAV, the electrical diagram of the UAV control system, the electrical diagram of the magnetometer, the electrical diagram of the barometer and electrical diagram the driver in UAV. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Inertial navigation systems

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Visual Localization system for GPS-Blind Environments in unmanned Aerial Vehicles 8

Visual Localization system for GPS-Blind Environments in Unm...

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8th International conference on Information, control, and Communication technologies, ICCT 2024

作者： Murhij, Yazan Gavrilov, Dmitriy Buzdin, Vladislav Kafa, Wissam Tatarinova, Elena Fateev, Alexei Shkatula, Sergey Krichevets, Daniil Laboratory of Digital Systems for Special Purposes Moscow Region Russia

ISBN: (纸本)9798331517564

Integrating computer vision with unmanned aerial vehicles (UAVs) has significantly reduced costs and increased accessibility across various applications, enabling advanced capabilities such as visual navigation, localization, and obstacle avoidance. However, current limitations in autonomous navigation systems hinder UAV operation in GPS-denied environments, posing challenges for fully autonomous flights. As the adoption of UAVs expands, developing robust backup strategies is crucial for ensuring safe and reliable navigation in the event of Global navigation Satellite systems (GNSS) failures or cyber-attacks. Visual localization emerges as a promising alternative, offering accuracy comparable to or exceeding that of GNSS-based systems. In this paper, we present a Visual Place Recognition-Based navigation Subsystem for UAVs, specifically designed for GPS-denied environments at high altitudes. Our pipeline addresses key localization challenges, enabling precise positioning even without accurate initial coordinates. We validate the effectiveness of our approach through extensive testing on our proposed dataset 'AeroVL', which covers over 80 km2 of diverse and challenging landscapes, including urban areas, farmlands, and forests. © 2024 IEEE.

关键词： Global positioning system

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Development of a High-Reliability Hybrid Data Transmission System for unmanned Surface Vehicles Under Interference Conditions

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DRONES 2025年第3期9卷 174-174页

作者： Kurdiuk, Sergiy Dremliuk, Vadym Melnyk, Oleksiy Onishchenko, Oleg Fomin, Oleksij Pistek, Vaclav Kucera, Pavel Natl Univ Odesa maritime Acad Inst Naval Forces Didrikhson St 8 UA-65052 Odesa Ukraine Odesa Natl Maritime Univ Nav & Maritime Safety Dept Mechnikova St 34 UA-65029 Odesa Ukraine State Univ Infrastruct & Technol Dept Cars & Carriage Facil Kyrylivska St 9 UA-04071 Kyiv Ukraine Brno Univ Technol Inst Automot Engn Tech 2896-2 Brno 61669 Czech Republic

This paper discusses modern approaches to the creation of a highly reliable data transmission system for unmanned surface vehicles (USVs) operating under interference conditions. In contrast to existing solutions, an improved communication algorithm is proposed to ensure uninterrupted transmission of video, telemetry, and control signals even in highly unstable environments. The study identifies the main technical requirements for data transmission and evaluates the key parameters of the communication channel. The proposed hybrid communication system utilizes adaptive channel switching, data compression, and equipment reconfiguration, improving data transmission stability and reducing latency. A comparative analysis of existing communication technologies reveals the limitations of acoustic, optical, and radio wave systems. A conceptual architecture combining these technologies provides optimal data transmission by adapting to the environment. Experimental results confirm the effectiveness of the system, demonstrating reliable operation even with 80% packet loss in public Internet networks. The system's adaptability, low latency, and dynamic routing make it suitable for real-time USV operations, including environmental monitoring, scientific research, and search and rescue missions. Its potential extends to commercial and dual applications requiring sustained data transmission in challenging maritime environments.

关键词： unmanned surface vehicles data transmission hybrid communication systems maritime navigation packet loss IP routing VPN LTE QoS communication resilience

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Analysis of the Urban Air Mobility for the unmanned Aerial Vehicle

Analysis of the Urban Air Mobility for the Unmanned Aerial V...

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International Scientific and Technical conference on Integrated Computer technologies in Mechanical Engineering - Synergetic Engineering (ICTM)

作者： Yena, Maksym Bykov, Andriy Karatanov, Oleksandr Natl Aerosp Univ Kharkiv Aviat Inst 17 Chkalova St UA-61070 Kharkiv Ukraine

ISBN: (纸本)9783031614149;9783031614156

The research topic unmanned Aerial Vehicle (UAV) Traffic Management Models, Methods and Information Technology concerns the development and testing of technologies to help control and manage UAV traffic to ensure safe, efficient and controlled flights. This is important to ensure the safety of the skies, as well as the efficient use of airways and to prevent collisions and conflicts. The study includes the study of traffic management models and algorithms, as well as the evaluation of their effectiveness and applicability in real conditions. The study briefly describes the main aviation groups that can be involved in providing flight traffic management, the main problems in the USA and possible problems in Ukraine, and also considers the main ways of solving problems and implementing a centralized, competitive system of monitoring and regulation of small aviation elements. The main mathematical features and limitations are analyzed. The goal of this research is to contribute to the improvement of UAV traffic management by proposing innovative solutions and strategies. By enhancing the quality of traffic control, the safety of airspace operations can be ensured, collisions and conflicts can be prevented, and the efficient utilization of airways can be achieved. The findings of this study have the potential to benefit both the aviation industry and regulatory bodies involved in UAV traffic management.

关键词： Traffic Management unmanned Aerial Vehicles Automated control Flight Path Optimization Monitoring and Detection systems Air Traffic Safety Intelligent Flight control Aviation unmanned Aviation Devices navigation Route Planning Efficiency Security control UTM

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Applications of Surface-to-Subsurface unmanned systems in Oceanic Observation 4

Applications of Surface-to-Subsurface Unmanned Systems in Oc...

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4th International Computational Imaging conference, CITA 2024

作者： Lei, Yang Jiangsu Automation Research Institute Lianyungang222061 China

ISBN: (纸本)9781510688834

unmanned maritime systems-including unmanned Surface Vehicles (USVs), unmanned Underwater Vehicles (UUVs), unmanned aerial platforms, unmanned buoys, and sub-buoys-are playing an increasingly pivotal role in ocean observation. These systems not only boost observational efficiency and reduce operational costs but also undertake tasks in extreme conditions, providing substantial technical support for marine scientific research. This paper outlines recent advancements in unmanned systems within the realm of ocean observation, delineates the state of development and key technical challenges across various application domains. Discussions encompass sensor technologies, communication protocols, navigation and positioning technologies, and energy management, aiming to elucidate how unmanned systems foster marine scientific inquiry and to offer insights for their future evolution. © 2025 SPIE.

关键词： Buoys

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Communication-Free Formation Flight control for Autonomous Fixed-Wing UAVs in GNSS-denied environments

Communication-Free Formation Flight Control for Autonomous F...

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International conference on unmanned Aircraft systems (ICUAS)

作者： Mata, Leon Garcia Insa, Laura GMV Aerosp & Def SAU Tres Cantos Madrid Spain

ISBN: (纸本)9798350357899;9798350357882

This article presents a novel formation control strategy for a group of fixed-wing unmanned aerial vehicles (UAVs) in GNSS-denied environments without communication links. Each aircraft will only have access to the relative states measured using its onboard sensors and to an alternative source of absolute navigation. The presented approach is based on a controller which is a function of the state estimation error, allowing the aircraft with high accuracy data to have a greater contribution to the formation guidance and reducing the effect of those with less precise information. The approach has been tested in a simulation environment over a series of scenarios including different sensors and configurations, showing that the proposed control strategy allows to reduce the deviation with respect to the nominal path in the presence of process noise and data uncertainties.

关键词： Fixed wings

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Improved navigation System of Marine unmanned Robot Based on Sensor Fusion 2

Improved Navigation System of Marine Unmanned Robot Based on...

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2nd International conference on unmanned Vehicle systems (UVS-Oman)

作者： Meysam, Radmanesh Samira, Darabi Iranian Res Org Sci & Technol IROST Samaneh Iman Gostar Hoshmand Co Tehran Iran

ISBN: (纸本)9798350372557

Improving navigation systems for unmanned marine robots is one of the challenging issues in recent decades. In this paper, an unmanned Surface Vehicle (USV) is introduced, which has an improved navigation system to carry out various missions in the sea. This marine robot works with sea waves and solar energy. Robot's navigation includes a global navigation satellite system (GNSS), and a compass sensor. Also, an algorithm is designed to improve navigation, which combines sensor information with classical filters such as Extended Kalman Filter (EKF) and Particle Filter (PF). Finally, the simulation results showed that EKF and PF filters have very similar and acceptable results in determining the robot's position. In the implementation, by implementing EKF on the USV control board, the information combination of sensors based on EKF was investigated and achieved higher accuracy than GNSS.

关键词： USV GNSS Compass EKF PF

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