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Offline Navigation (Homing) of Aerial Vehicles (Quadcopters) in GPS Denied Environments

Faculty of Innovation Technologies, National Research Tomsk State University, Lenin Av. 36, Tomsk 634050, Russian Federation

E-mail Address: mainakme2140@gmail.com

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Sergey Poslavskiy

Faculty of Innovation Technologies, National Research Tomsk State University, Lenin Av. 36, Tomsk 634050, Russian Federation

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https://doi.org/10.1142/S2301385021500102Cited by:3 (Source: Crossref)

Abstract

This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.

This paper was recommended for publication in its revised form by editorial board member, Wei Meng.

Keywords:

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