A review of GNSS-independent UAV navigation techniques
2022; Elsevier BV; Volume: 152; Linguagem: Inglês
10.1016/j.robot.2022.104069
ISSN1872-793X
AutoresNasser Gyagenda, Jasper V. Hatilima, Hubert Roth, Vadim Zhmud,
Tópico(s)Robotic Path Planning Algorithms
ResumoApplication of UAVs (Unmanned Aerial Vehicles) in environments devoid of GNSS (Global Navigation Satellite System) service has motivated research into GNSS-independent navigation solutions. This paper presents an account of such solutions proposed within the last decade. Unlike most literature that abstract UAV navigation to mere localization, this work takes a bottom-up approach by assessing the navigation components namely perception, localization and motion planning presented in the selected literature. The review results indicate that only 16% of the research presented full navigation solutions, while the rest present one or several components thereof. Besides the account of navigation solutions, our other contributions include an adapted MTOW-based (Maximum Take-Off Weight) UAV classification scheme incorporating a nano-sized UAV class, technology maturity assessment of the reviewed GNSS-independent navigation solutions and analysis of integrity monitoring frameworks.
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