Precise Relative Positioning in GPS-Degraded Environments using a DGPS/UWB Navigation Filter

Christian J. Campos-Vega, Dan Kamarath, John David Sprunger, Scott Martin, David Bevly

Peer Reviewed

Abstract:	With the rising popularity of UAV/UGV cooperative teams for commercial and industrial use, accurate relative positioning of the UAV must be sustained through a variety of environments. Sensor suites based around RTK-DGPS are a common approach. But for many environments, multi-path or cycle-slip inducing maneuvers can further degrade or prevent fixing the integer ambiguities needed for precise navigation. Furthermore, UAVs are often considered expendable and thus come with low-cost sensors in many commercial applications. These low-cost sensors can not provide the needed accuracy for certain applications in addition to requiring a longer initialization period due to single frequency limitations. This paper presents the experimental validation of a decimeter-level navigation solution by utilizing a tightly-coupled fusion of low-cost differential GPS (DGPS) and Ultra-Wideband radios.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	2526 - 2543
Cite this article:	Campos-Vega, Christian J., Kamarath, Dan, Sprunger, John David, Martin, Scott, Bevly, David, "Precise Relative Positioning in GPS-Degraded Environments using a DGPS/UWB Navigation Filter," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 2526-2543. https://doi.org/10.33012/2021.17920
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