Low-Cost Hybrid GNSS/UWB/INS Integration for Seamless Indoor/Outdoor UAV Navigation

Álvaro Cebrian, Andrea Bellés, Carla Martin, Aitor Salas, Javier Fernández, Javier Arribas, Jordi Vilà-Valls, Monica Navarro

Abstract:	Global Navigation Satellite Systems (GNSS) performance may be seriously degraded under harsh propagation conditions, or totally denied indoors. In such scenarios, to provide precise, accurate and reliable navigation information, GNSS must be combined with other sources of information. In this contribution, we leverage on the use of Ultra-WideBand (UWB) based distance measurements and Inertial Navigation Systems (INS), and provide a hybrid GNSS/UWB/INS sensor fusion strategy for robust seamless indoor/outdoor unmanned aerial vehicle (UAV) navigation. Results are provided for a real UAV scenario.
Published in:	Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019 Hyatt Regency Miami Miami, Florida
Pages:	2680 - 2691
Cite this article:	Cebrian, Álvaro, Bellés, Andrea, Martin, Carla, Salas, Aitor, Fernández, Javier, Arribas, Javier, Vilà-Valls, Jordi, Navarro, Monica, "Low-Cost Hybrid GNSS/UWB/INS Integration for Seamless Indoor/Outdoor UAV Navigation," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 2680-2691. https://doi.org/10.33012/2019.17097
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