Location Aware and Drift Control Using a Smartphone On-board an Unmanned Aerial Vehicle
Adil Farooq, Majda Sadaf, Tayyaba Nosheen, Narumol Chumuang
Abstract
Smartphones and Unmanned Aerial Vehicles (UAVs), regarded as consumer-grade technologies, offer a remarkable price/performance ratio, making their integration a strategic approach for maximizing overall performance. Our work addresses the complex challenges of UAV navigation in GPS-denied and enclosed environments for estimating the exact relative position by proposing an integration of a smartphone-based aerial platform. The selected control strategy and estimation, demonstrates enhanced robustness in diverse indoor and outdoor environments, showcasing precision and managing uncertainty by reducing the sensory drift taking into account the motion dynamics of the UAV. This study underscores the challenges of UAV navigation in GPS-denied settings, emphasizing the significance of sensor fusion and advanced estimation techniques. Our devised strategies aim to keep a balanced tradeoff between the estimation and motion model of the aerial platform. This research could lay the groundwork for advancing UAV technology, providing solutions to real-world challenges in GPS-denied and enclosed spaces.