| The rapid development of the UAV industry has brought in the increasing applications with huge business values.Nevertheless,with the increased UAV application,the ‘black fly' phenomena of UAV have seriously threaten the airspace safety.For example,if the drones fly into the restricted or prohibited area and become very close or even collide with the civil aircrafts,the airport or airline company would pay huge economic losses due to flight delay or return.Currently,however,there is a gap in research regarding the concept and framework for the UAV air traffic management,which is essential for the airspace operation safety.This paper addresses the issue by proposing a framework of the UAV management based on the delivery application.The delivery requirement and navigation performance evaluation during the flight are studied to support the UAV operation and monitoring.Firstly,the wide applications of UAV are summarized and UAV delivery is selected as a research topic.GNSS/IMU integrated navigation is used for real-time estate estimation of the UAV delivery.Currently,there is a research gap for the required position accuracy of UAV delivery.This article presents the requirement based on the application scope and delivery process.Secondly,in order to obtain high accuracy estimations for the dynamic motions of the UAV,we have proposed a PF-AR algorithm for UAV real-time position estimation.Superiority of the proposed algorithm is proved by comparing with the traditional filtering algorithms such as KF,EKF and PF.Thirdly,from the perspective of navigation system user,this thesis presents a set of theoretical framework of navigation performance evaluation,which is used for evaluating the process of collecting UAV position by GNSS/IMU integrated navigation.Finally,the proposed filter algorithm is validated by the simulation results with the analysis of the navigation system performance in terms of accuracy,integrity,continuity and availability. |
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