Skip to Main Content
 

Global Search Box

 
 
 

ETD Abstract Container

Abstract Header

Absolute and Relative Navigation of an sUAS Swarm Using Integrated GNSS, Inertial and Range Radios

Huff, Joel E.
http://orcid.org/0000-0002-0366-6073
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1535040500005309

Abstract Details

2018, Master of Science (MS), Ohio University, Electrical Engineering & Computer Science (Engineering and Technology).
Small Unmanned Aircraft Systems (sUAS) are becoming very popular for solving a multitude of problems. As sUAS solutions are applied to more often, it is evident that multiple cooperative sUAS can be beneficial to certain tasks (surveillance, inspection, mapping). Unfortunately, operations involving multiple sUAS are inherently complex, requiring navigation solutions that are very accurate both in a relative and absolute sense for every member of the swarm. This thesis presents a method to use ultra-wideband (UWB) range radios to increase the relative position accuracy (and as a byproduct, absolute position accuracy) of the members of a swarm. A range radio system is also developed and analyzed, allowing simulations for testing this method. Finally, real flight data has been collected using multiple custom-built sUAS platforms and post-processed, allowing the filter to be analyzed using real world data.
Maarten Uijt de Haag (Advisor)
Michael Braasch (Committee Member)
Frank Van Graas (Committee Member)
Geoffrey Dabelko (Committee Member)
79 p.
Electrical Engineering
sUAS; small unmanned aircraft systems; range radio; filter; kalman; navigation; aviation; relative navigation; relative; sensor fusion; decawave; IMU; INS; inertial; GNSS; GPS; satellite; swarm; swarm navigation; cooperative

Recommended Citations

Citations

  • Huff, J. E. (2018). Absolute and Relative Navigation of an sUAS Swarm Using Integrated GNSS, Inertial and Range Radios [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1535040500005309

    APA Style (7th edition)

  • Huff, Joel. Absolute and Relative Navigation of an sUAS Swarm Using Integrated GNSS, Inertial and Range Radios. 2018. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1535040500005309.

    MLA Style (8th edition)

  • Huff, Joel. "Absolute and Relative Navigation of an sUAS Swarm Using Integrated GNSS, Inertial and Range Radios." Master's thesis, Ohio University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1535040500005309

    Chicago Manual of Style (17th edition)

ohiou1535040500005309
599
© 2018, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.