Bewegungsmodell-basierte Filtertechniken zur Navigation mit miniaturisierten Sensoren

• Applicants: Professor Dr.-Ing. Florian Holzapfel; Professor Dr.-Ing. Gert F. Trommer; Professor Dr.-Ing. Peter Vörsmann
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2010 to 2014
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 175142409

In the first part of the project, the potential of model-aided navigation for dealing with longer time windows of GPS-unavailability was clearly demonstrated. Based on the development of the efficient Unified Model method by the institutes ITE and FSD and the precise understanding of model-aided navigation acquired so far, the following are identified to be the most important points to be addressed in further cooperative research:What are the commonalities and differences of the Unified Model method and the methods presented in literature?Various methods of model-aided navigation have been presented in literature. It is expected that a detailed analysis that compares the methods and identifies common and individual characteristics will lead to a deeper understanding and provide a starting point for further improvement.How to design a model-aided integrated navigation system?Because the method of model-aided navigation by itself is only a part of the navigation system, the design steps that deal with requirements of system performance (precision, robustness, cost) and restrictions (available model quality, sensors, computer power) should be studied.What extensions to the method of model-aided navigation can improve its performance?The performance of model-aided navigation suffers from inevitable errors in available models and wind estimation. These limitations should be addressed by modified or extended motion- and error-models in order to reduce the impact of modeling uncertainty. Furthermore, the model-aided navigation system should be made robust in order to deal with GPS spoofing and damages to the aircraft that reduce the validity of the used model.What is the best potential use of model-aided navigation?Depending on the used platform, the available model and IMU quality, the application scenario (length, GPS availability ...), and the desired system output it should be studied if model-aided navigation can fill a gap that has not been covered by existing standard navigation technology. The goal is to show if there is a way in which model-aided navigation could become a standard technology in UAVs or small general aviation aircraft.

• DFG Programme: Research Grants