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Session C3: Frontiers of Radionavigation: Signals of Opportunity, 5G, LEO, and Beyond

Accuracy and Integrity Assessment of a sUAS UWB-Indoor Positioning System Using Factor Graph Optimization
Mats Martens and Maarten Uijt de Haag, Chair of Flight Guidance and Air Transport, Technical University Berlin (TU Berlin)
Location: Grand Ballroom IJ
Date/Time: Wednesday, Apr. 30, 8:35 a.m.

This paper discusses a navigation system for small Unmanned Aerial Systems (sUAS) as part of the TU Berlin’s indoor (7.5m x 3.75m x 3m) flight test-range for urban air mobility and UAS traffic management applications. The proposed navigator uses measurements from the commercial-of-the-shelf sUAS’s built-in sensors, as well as an additional onboard ultrawide-band (UWB) range radio and multiple external stationary UWB beacons. This work applies Factor-Graph-Optimization to the task of decentralized position estimation and extends it with existing batch-optimization based integrity monitoring solutions approaches. Using an OptiTrack motion capture system the performance of the system is analyzed after assessing the quality of the individual sensors.
Index Terms—Factor-Graph Optimization, Integrity Monitoring, Ultra-Wide-Band, Multilateration

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