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User-Configurable Timing and Navigation for UAVs.

Sigurd M Albrektsen1, Tor Arne Johansen2

  • 1Department of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU-AMOS), O.S. Bragstads plass 2D, 7034 Trondheim, Norway. sigurd.albrektsen@ieee.org.

Sensors (Basel, Switzerland)
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Summary

This study introduces a reconfigurable sensor timing system for unmanned aerial vehicles (UAVs), enhancing navigation accuracy. The system achieves 10-nanosecond resolution, significantly improving georeferencing for UAV sensors.

Keywords:
dronesreconfigurable sensor systemsrobot navigationsensor synchronization

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Navigation Systems

Background:

  • Increasing industrial use of unmanned aerial vehicles (UAVs) necessitates highly accurate navigation.
  • Current sensor timing solutions lack flexibility and require significant effort for sensor integration.
  • High UAV dynamics demand precise timestamping for accurate measurements.

Purpose of the Study:

  • To present requirements and suggestions for a highly accurate, reconfigurable sensor timing system for UAVs.
  • To simplify the integration of various sensor systems (GNSS, IMU, cameras) with navigation systems.
  • To develop and verify a novel sensor timing solution for enhanced UAV performance.

Main Methods:

  • Design and implementation of a reconfigurable sensor timing system (SenTiBoard).
  • Development of a supporting software package and a baseline sensor-suite.
  • Integration and testing of the system on a Mini Cruiser fixed-wing UAV.

Main Results:

  • Achieved a measurement resolution of 10 nanoseconds and data transfer rates up to 7.6 MB/s.
  • Enabled absolute time referencing (UTC) with a clock drift of 1.9 microseconds per second RMS when using a GNSS receiver.
  • Reduced georeferencing errors in infrared images by a factor of 4 compared to software synchronization.

Conclusions:

  • The proposed sensor timing system offers high accuracy and flexibility for UAV navigation.
  • The SenTiBoard implementation successfully demonstrates improved sensor integration and data synchronization.
  • This solution significantly enhances the precision of UAV-based sensing and georeferencing applications.