A Low SWaP Implementation of High Integrity Relative Navigation for Small UAS

E. Brewer, G. Haentjens, V. Gavrilets, G. McGraw

Abstract:	Several aerial platforms rely on decimeter-level relative position accuracy for various applications including automatic takeoff and landing, precision targeting, and airborne refueling. For such applications, a Real Time Kinematic (RTK) GPS system provides a relatively low cost, robust, and reliable solution. Current commercial RTK products are inherently susceptible to jamming and spoofing. The Selective Availability Anti-Spoof Module (SAASM) implementations to date typically relied on relatively large and complicated architectures which would be difficult to port into a small (Groups1-3) Unmanned Aircraft System (UAS) due to Size, Weight, and Power (SWaP) constraints. This paper describes the architecture, algorithms, and testing approach from Rockwell Collins high integrity relative navigation system including a SAASM-based RTK implementation for small UAS. A variant of the system was implemented for the Navy’s Small Tactical Unmanned Aircraft System (STUAS) program. The STUAS system performed its first successful ship-based launch and recoveries on the U.S.S. Mesa Verde using Rockwell Collins high integrity relative navigation system in February of 2013.
Published in:	Proceedings of IEEE/ION PLANS 2014 May 5 - 8, 2014 Hyatt Regency Hotel Monterey, CA
Pages:	1183 - 1187
Cite this article:	Brewer, E., Haentjens, G., Gavrilets, V., McGraw, G., "A Low SWaP Implementation of High Integrity Relative Navigation for Small UAS," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 1183-1187. https://doi.org/10.1109/PLANS.2014.6851490
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