UAV Integrity Monitoring Measure Improvement using Terrestrial Signals of Opportunity

A method for improving the integrity monitoring measure of Global Positioning System (GPS) by exploiting terrestrial signals of opportunity (SOPs) is developed. The proposed method considers a receiver mounted on an unmanned aerial vehicle (UAV), which makes pseudorange observations on GPS satellites and terrestrial SOPs. First, SOP pseudorange measurement errors are characterized from an extensive data collected with a UAV in different environments: open sky, semi-urban, and urban. Next, the vertical protection level (VPL) reduction by exploiting terrestrial SOPs is studied. It is demonstrated that adding terrestrial SOP measurements, which are inherently at low elevation angles is more effective to reduce VPL over adding GPS measurements. Experimental results to evaluate the developed method are presented for a UAV navigating in an urban environment over a trajectory of 823 m, while collecting GPS signals and cellular real long-term evolution (LTE) SOPs. It is demonstrated that the proposed method reduces the VPL by 57.76% from the VPL of GPS-only.

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