Title: Avionics-Based GNSS Integrity Augmentation for UAS Mission Planning and Real-time Trajectory Optimisation
Author(s): Roberto Sabatini, Terry Moore, Chris Hill
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 1415 - 1431
Cite this article: Sabatini, Roberto, Moore, Terry, Hill, Chris, "Avionics-Based GNSS Integrity Augmentation for UAS Mission Planning and Real-time Trajectory Optimisation," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 1415-1431.
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Abstract: This paper explores the potential of integrating Global Navigation Satellite System (GNSS) Avionics Based Integrity Augmentation (ABIA) functionalities in Unmanned Aerial Systems (UAS) to perform mission planning and real-time trajectory optimisation tasks. In case of mission planning, a pseudo-spectral optimization technique is adopted. For real-time trajectory optimisation a Direct Constrained Optimisation (DCO) method is employed. In this method the aircraft dynamics model is used to generate a number of feasible flight trajectories that also satisfy the GNSS integrity constraints. The feasible trajectories are calculated by initialising the aircraft dynamics model with a manoeuvre identification algorithm. The performance of the proposed GNSS integrity augmentation and trajectory optimisation algorithms was evaluated in representative simulation case studies. Additionally, the ABIA performance was compared with Space-Based and Ground-Based Augmentation Systems (SBAS/GBAS). Simulation results show that the proposed integration scheme is capable of performing safety-critical UAS tasks (CAT III precision approach, UAS Detect-and-Avoid, etc.) when GNSS is used as the primary source of navigation data. There is a synergy with SBAS/GBAS in providing suitable (predictive and reactive) integrity flags in all flight phases. Therefore, the integration of ABIA with SBAS/GBAS is a clear opportunity for future research towards the development of a Space-Ground-Avionics Augmentation Network (SGAAN) for UAS SAA and other safety-critical aviation applications. Keywords: GNSS Integrity, GNSS Augmentation, Avionics Based Integrity Augmentation, Unmanned Aircraft Systems, Trajectory Optimisation, Flight Planning, Caution and Warning.