5 May 2017 UAV path planning in absence of GPS signals
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Abstract
UAVs path planning is usually based on availability of GPS signals for real time positioning. However, there many situations where the GPS signal might not be available either due to interference, or lack of enough number of available satellites at the desired area. In urban environment, the GPS signals may not be available due to high rise building. However, such environment is usually dense with cellular signals from largely distributed cellular tower all over the area. The cellular signals from different technologies such as CDMA and LTE are already available in addition to long time existing GSM technology. In this work, we propose to use the cellular signals from different towers and sectors to provide localization information to the UAV in addition to environment canopy database where heights of building, trees, etc are used obstacle database in path planning algorithm. The work is to show how to build three dimensional radio frequency maps either for one or different modes of technologies and how these RF maps can be used by UAV to estimate its position in 3D space and used by the guidance, navigation and control system of the UAV to position itself and determine trajectory selection in three dimension space of an urban environment.
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Hassan El-Sallabi, Hassan El-Sallabi, Abdulaziz Aldosari, Abdulaziz Aldosari, Saad Alkaabi, Saad Alkaabi, } "UAV path planning in absence of GPS signals", Proc. SPIE 10195, Unmanned Systems Technology XIX, 1019516 (5 May 2017); doi: 10.1117/12.2266748; https://doi.org/10.1117/12.2266748
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