DOP-Based Drift Correction Control for UAVs Operating in Urban Canyon

The wide utilization of global navigation satellite system (GNSS) technology in unmanned aerial vehicles (UAVs) has greatly improved the positioning accuracy of UAVs, thereby enhancing flight safety and expanding their applications. However, in densely forested areas or urban canyons where satellite signals are occasionally obstructed, GNSS signals can drift, and the positioning accuracy is compromised. This research paper addresses the special GNSS drift challenge by designing an integrated, custom-built control framework for UAVs, including a novel drift estimation and correction for tracking precision. The estimation and correction are based on the concept of dilution of precision, a term to quantify the effect of satellite geometry on positioning and timing precision. Experimental investigation mimicking a drone in urban canyon conditions confirms the effectiveness and demonstrates the promising features of the proposed design.