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检索条件"任意字段=Conference on Navigation and Control Technologies for Unmanned Systems"

共 7752 条记录，以下是71-80 订阅

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GNSS/SINS tight combination navigation technology for multirotor UAV 3

GNSS/SINS tight combination navigation technology for multir...

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2024 3rd International conference on Aerospace and control Engineering, ICoACE 2024

作者： Yang, Jianlei Jin, Zhengzhen Zheng, Shuaiyong Jin, Yaohaoran Hu, Na Zhao, Lili Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081 China The 54 Research Institute China Electronics Technology Group Shijiazhuang050081 China School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China

Amidst the swift progress in unmanned aerial vehicle (UAV) technology, the enhancement of navigation precision and robustness is paramount for ensuring flight safety and managing the intricacies of various missions. This research presents a sophisticated, tightly integrated Global navigation Satellite System (GNSS) and Strapdown Inertial navigation System (SINS) navigation framework designed to synergize the capabilities of both systems, thereby mitigating their respective shortcomings in adverse environments. By utilizing an Extended Kalman Filter for the real-time calibration of inertial sensor errors, this system markedly enhances the navigation accuracy of UAVs. Our rigorous testing, conducted with genuine flight data, revealed that the integrated system surpasses standalone inertial navigation systems, especially in managing position errors, resulting in a 12.5% enhancement in overall navigation accuracy. This study solidifies the technical foundation for UAV applications and advances the development of future navigation systems. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： unmanned aerial vehicles (UAV)

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An Innovative Monitoring System based on UAV and Auto-remote Surface Vessel 9

An Innovative Monitoring System based on UAV and Auto-remote...

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9th International conference on Smart and Sustainable technologies (SpliTech)

作者： Vergine, Valeria Benvenuto, Fabrizio Luca De Giuseppe, Sergio Spedicato, Marco Largo, Alessandro Univ Salento Dept Engn Innovat Lecce Italy Commedia srl Lecce Italy RINA Consulting SpA Lecce Italy

ISBN: (纸本)9798350390797;9789532901351

Given the pressing demand for comprehensive environmental monitoring, unmanned Aerial Vehicles (UAVs) or drones have been extensively applied in environmental monitoring studies to address data collection and operations management thanks to their operational flexibility and low cost. The objective of the project MARIN is to set-up and test at sea a technological demonstrator of the enabling technologies for autonomous navigation. Integrating the UAVs with their video- analysis systems can enhance the role of the naval unit as an extended robotic platform that can enlarge the range and the operational capability of the unit itself. The goal of this study is to demonstrate the technological feasibility of an unmanned system for environmental monitoring and to develop an integrated unmanned system for the collection and analysis of environmental data for remote management using UAVs. This paper summarizes the work's progress and technical innovations, highlighting the significant technical challenges that the project has overcome. The validation of the system, carried out with in situ tests, confirmed its effectiveness and flexibility in various environmental scenarios and opens up new possibilities for environmental monitoring and sustainable management of natural resources, demonstrating the importance of technological innovation in this crucial sector and others.

关键词： Monitoring unmanned Aerial Vehicles (UAV) drone Search & Rescue (SAR) Maritime Security (MS)

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Robust Hybrid navigation Unit for Urban Air Mobility Scenarios 43

Robust Hybrid Navigation Unit for Urban Air Mobility Scenari...

引用

43rd AIAA DATC/IEEE Digital Avionics systems conference, DASC 2024

作者： Corraro, Gianluca Cuciniello, Giovanni Garbarino, Luca Ciniglio, Umberto Corraro, Federico Flora, Andrea Senatore, Roberto Pizzarulli, Andrea Guidance Navigation and Control Dept. CE Capua Italy Flight Dynamic and Simulation Dept. CE Capua Italy On-board Systems for Navigation Dept. CE Capua Italy Civitanavi Systems Guidance Navigation & Control Applications Dept. FM Pedaso Italy Inertial Algorithm and Simulation Civitanavi Systems FM Pedaso Italy Civitanavi Systems FM Pedaso Italy Civitanavi Systems FM Pedaso Italy

ISBN: (纸本)9798350349610

Urban Air Mobility (UAM) includes new aeronautical applications encompassing the future on-demand urban human air transportation (e.g. air-taxi) and unmanned aerial system operations for goods delivery and public safety in urban, sub-urban and inter-city areas. One of the key technology enablers of UAM implementation is related to the availability of robust and resilient positioning, navigation and timing measurements. In this context, the Global navigation Satellite systems (GNSS) is in principle able to provide valid technological solutions to above required performances that are threatened in dense urban environments. In this framework, the present work describes a hybrid navigation unit for UAM applications implementing all the algorithms for a tightly coupled sensor fusion between a dual frequency multi constellation GNSS receiver, an inertial measurements unit and barometric altitude from an air data computer, together with related autonomous fault detection and exclusion of GPS/Galileo/BeiDou satellites and estimation of navigation solution integrity/accuracy. Such prototype has been validated through real-time hardware-in-the-loop simulations and in-flight demonstrations in reproduced UAM scenarios. © 2024 IEEE.

关键词： Global positioning system

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Enhancing Privacy and Security of Autonomous UAV navigation 2

Enhancing Privacy and Security of Autonomous UAV Navigation

引用

2nd IEEE conference on Artificial Intelligence (CAI)

作者： Aggarwal, Vatsal Kaushik, Arjun Ramesh Jutla, Charanjit Ratha, Nalini Univ Buffalo Getzville NY 14068 USA IBM Res Yorktown Hts NY USA

ISBN: (纸本)9798350354102;9798350354096

Autonomous unmanned Aerial Vehicles (UAVs) have become essential tools in defense, law enforcement, disaster response, and product delivery. These autonomous navigation systems require a wireless communication network, and of late are deep learning based. In critical scenarios such as border protection or disaster response, ensuring the secure navigation of autonomous UAVs is paramount. But, these autonomous UAVs are susceptible to adversarial attacks through the communication network or the deep learning models - eavesdropping / man-in-the-middle / membership inference / reconstruction. To address this susceptibility, we propose an innovative approach that combines Reinforcement Learning (RL) and Fully Homomorphic Encryption (FHE) for secure autonomous UAV navigation. This end-to-end secure framework is designed for real-time video feeds captured by UAV cameras and utilizes FHE to perform inference on encrypted input images. While FHE allows computations on encrypted data, certain computational operators are yet to be implemented. Convolutional neural networks, fully connected neural networks, activation functions and OpenAI Gym Library are meticulously adapted to the FHE domain to enable encrypted data processing. We demonstrate the efficacy of our proposed approach through extensive experimentation. Our proposed approach ensures security and privacy in autonomous UAV navigation with negligible loss in performance.

关键词： Autonomous unmanned Aerial Vehicles Fully Homomorphic Encryption Privacy Reinforcement Learning

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MarineX: Design and Implementation of unmanned Surface Vessel for Vision Guided navigation 21

MarineX: Design and Implementation of Unmanned Surface Vesse...

引用

21st International conference on Advanced Robotics (ICAR)

作者： Din, Muhayy Ud Humais, Ahmed Akram, Waseem Alblooshi, Mohamed Saoud, Lyes Saad Alblooshi, Abdelrahman Seneviratne, Lakmal Hussain, Irfan Khalifa Univ Ctr Autonomous Robot Syst KUCARS Abu Dhabi U Arab Emirates

ISBN: (纸本)9798350342291

Marine robots, particularly unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper presents the design and implementation of a USV named marineX. The hardware components of marineX are meticulously developed to ensure robustness, efficiency, and adaptability to varying environmental conditions. Furthermore, the integration of a vision-based object tracking algorithm empowers marineX to autonomously track and monitor specific objects on the water surface. The control system utilizes PID control, enabling precise navigation of marineX while maintaining a desired course and distance to the target object. To assess the performance of marineX, comprehensive testing is conducted, encompassing simulation, trials in the marine pool, and real-world tests in the open sea. The successful outcomes of these tests demonstrate the USV's capabilities in achieving real-time object tracking, showcasing its potential for various applications in maritime operations.

关键词： Autonomous navigation marine robotics autonomous systems.

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Design space exploration in hybrid control with RRT∗ and combined Artificial Potential Field methods for UAV obstacle avoidance 9

Design space exploration in hybrid control with RRT∗ and co...

引用

9th International conference on Mathematics and Computers in Sciences and Industry, MCSI 2024

作者： Giouvanis, Georgios Papadimitriou, Nikolaos Nasoulis, Christos Symeonidis, Panagiotis Giakoumis, Dimitrios Ioannidis, Dimosthenis Tzovaras, Dimitrios Centre for Research and Technology Information Technologies Institute Hellas Thessaloniki57001 Greece

ISBN: (纸本)9798350377224

Recent advancements in unmanned Aerial Vehicles (UAV) navigation systems are bringing the goal of fully autonomous missions closer. The development of safe navigation methods is a critical component in reaching this goal. In this work, we propose a hybrid navigation control method consisting of three layers: the deliberative layer which computes the path, avoiding obstacles using a global planner (RRT*) and smoothing the trajectory using B-splines;the execution layer;and the reactive control layer which employs the Artificial Potential Field (APF) method, enabling safe autonomous navigation in three-dimensional space. Two APF methods are combined in this work;the first incorporates the virtual force, while the other integrates the rotational force into the total repulsive force of the system. These enhancements aid in reaching the target more swiftly and prevent the system from becoming trapped in the local minimum. Finally, a design space exploration for the gain parameters of the attractive, repulsive, and rotational forces of the APF method is conducted, using the Uniform Latin Hypercube sampling, to find pair(s) of values that prevent the UAV from getting stuck to local minima and reducing the generated path length. © 2024 IEEE.

关键词： unmanned aerial vehicles (UAV)

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A Collaborative Fault Detection navigation Method for Cluster Aircrafts

A Collaborative Fault Detection Navigation Method for Cluste...

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2023 IEEE International conference on unmanned systems, ICUS 2023

作者： Liu, Yaokai Wang, Rong Xiong, Zhi Liu, Jianye Wang, Sichen Navigation Research Center College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9798350316308

The traditional receiver autonomous integrity monitoring (RAIM) algorithm is used to detect the pseudorange estimation residuals of a single aircraft. For the relatively small and medium-sized pseudorange errors, RAIM algorithm has low fault detection sensitivity and cannot be applied to navigation systems with accurate positioning requirements. A cooperative observation integrity monitoring (COIM) algorithm is proposed in this work, which makes full use of the characteristics of the cluster and uses GNSS receivers of multiple aircrafts to construct common-mode residual detection statistics to improve the performance of fault detection. This constitutes a key innovation presented in this paper. Besides, the navigation system can monitor whether the auxiliary sensor is abnormal while monitoring the satellite fault. The simulation results show that COIM greatly improves the fault detection rate of GNSS satellites, and can be extended arbitrarily on the basis of satellite fault monitoring to detect whether the measurement values of auxiliary sensors in the navigation system are abnormal. © 2023 IEEE.

关键词： Fault detection

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AI-based Approach for Radio Frequency Jamming Attack Detection in unmanned Aerial Vehicles 29

AI-based Approach for Radio Frequency Jamming Attack Detecti...

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29th IEEE Asia Pacific conference on Communications, APCC 2024

作者： Harshil, Jetani Goti, Harikrushna Mahida, Nikunjkumar Gupta, Rajesh Tanwar, Sudeep Bhardwaj, Geetika Jhanjhi, N.Z. Ray, Sayan Kumar Institute of Technology Nirma University Department of Comp. Sci. & Engg Ahmedabad India Guru Nanak Dev Engineering College Ludhiana Department of Comp. Sci. & Engg Punjab India Taylor's University Subang Jaya School of Computer Science Malaysia

ISBN: (纸本)9798331517816

unmanned Aerial Vehicles (UAV) are highly versatile systems with applications expanding in various fields, for instance, Surveillance, Reconnaissance, Disaster Response, Agriculture, and many more. Although UAVs have many important advantages over conventional manned aircraft, such as cheaper operating costs and a lower risk for human pilots, their vulnerability to Radio Frequency (RF)-jamming poses a substantial risk to navigation and communication systems by disrupting signals. UAVs depend on remote control and autonomous operations. These attacks are concerning in many application areas. Communication and navigation play crucial roles in these autonomous systems. This paper aims to explore different deep-learning algorithms for the detection of RF-jamming attacks in UAVs. A comparison analysis is conducted to evaluate five distinct architectures using conventional evaluation metrics criteria comprising accuracy, precision, recall, confusion matrices, and the area under the ROC curve. These comparative analyses helped in selecting an accurate architecture for the definition, RNN architecture gave an impressive accuracy of 93% and demonstrated a superior performance than other architectures. This paper aims to strengthen RF-jamming detection systems in UAVs to enhance their safety and operational reliability in several scenarios. © 2024 IEEE.

关键词： unmanned aerial vehicles (UAV)

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BDP-UaiFly System: A Platform for the RoboCup Brazil Open Flying Robot Trial League

BDP-UaiFly System: A Platform for the RoboCup Brazil Open Fl...

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International conference on unmanned Aircraft systems (ICUAS)

作者： Fagundes-Junior, Leonardo A. Barcelos, Celso O. Gandolfo, Daniel C. Brandao, Alexandre S. Univ Fed Vicosa Dept Elect Engn Nucleo Especializacao Robot Vicosa MG Brazil Univ Fed Vicosa Grad Program Comp Sci Vicosa MG Brazil Natl Univ San Juan Inst Automat San Juan Argentina Univ Fed Vicosa Dept Elect Engn Vicosa MG Brazil

ISBN: (纸本)9798350310375

The Flying Robot Trial League (FRTL), from RoboCup Brazil, is a competition that stimulates the development of autonomous and intelligent flying robots for inspection and operation in pipeline lanes and oil installations. In this context, this work presents the system developed by the BDP-UaiFly Team for the 2022 competition, using the off-the-shelf Parrot Bebop 2 to execute the Equipment Transport phase. This paper presents in detail the system platform and the navigation and sensing strategies implemented for autonomous navigation and image processing. In particular, the strategy adopted for cargo transportation based on servo-visual control is presented. Practical experiments validate the proposed solutions for the phases of the challenge.

关键词： Autonomous and Intelligent Flying Robots Visual Servoing control Load Transportation

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Spatial Mapping of light aircraft with stereo-vision camera for use on unmanned Aircraft System for defect localisation

Spatial Mapping of light aircraft with stereo-vision camera ...

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International conference on unmanned Aircraft systems (ICUAS)

作者： Connolly, Luke O'Gorman, Diarmuid Garland, James Tobin, Edmond F. South East Technol Univ Dept Aerosp & Mech Engn Fac Engn Carlow Campus Carlow Ireland South East Technol Univ Dept Elect Engn & Commun Fac Engn Carlow Campus Carlow Ireland

ISBN: (纸本)9798350310375

Spatial mapping creates a 3D reconstruction of a visualised area to reproduce a perception of the environment. This can be applied in robotics for manoeuvring in environments where Global navigation Satellite systems (GNSSs) are inaccessible. Such devices capable of spatial mapping are stereo-vision cameras. These cameras possess two or more image sensors, simulating human binocular vision and giving it the ability to perceive depth. Using this hardware on an unmanned Aircraft System (UAS) introduces new capabilities for autonomous navigation and unmanned control. This, in turn, introduces new possibilities for application. Such a use case would be for a General Visual Inspection (GVI) of aircraft in a hangar environment where access to GNSS is limited. Providing a flight plan to a UAS with a stereo-vision camera to assist with collision avoidance and to keep a consistent distance from the aircraft would provide a robust system for defect detection and localisation during a GVI.

关键词： Cameras

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