[SEMINAR] Robust UAV Navigation: Accuracy, Reliability and Security
The ever-growing applications of Unmanned Aerial Vehicles (UAVs) require the vehicles to navigate at low altitude and in urban environments. Conventional GPS-based navigation may receive signals from less than four GPS satellites in the partially visible sky, not sufficient to conduct trilateration. In such a situation, GPS coordinates become unavailable and the partial GPS information is discarded. A GPS receiver may also suffer from multipath errors, causing the navigation solution to be inaccurate and unreliable. In addition, a GPS receiver is prone to jamming and spoofing attacks, which may disable GPS or mislead the vehicle to a wrong location.
In this talk, we present our recent work on robust UAV navigation. We deeply fuse GPS information with LiDAR, camera vision and inertial measurements on the raw signal level. In addition, we turn the unwanted multipath signal into a useful signal source. Instead of one GPS receiver, we use multiple receivers either on the same UAV platform or across a wide area to further improve navigation accuracy, reliability and resilience to attacks.
Grace Xingxin Gao is an assistant professor in the Aerospace Engineering Department at University of Illinois at Urbana-Champaign. She obtained her Ph.D. degree at Stanford University. Her research is on GPS/GNSS-based positioning, navigation and timing with applications to manned and unmanned aerial vehicles, robotics and power systems.
Prof. Gao has won a number of awards, including the United States National Science Foundation CAREER Award, Radio Technical Commission for Aeronautics (RTCA) William E. Jackson Award and Institute of Navigation Early Achievement Award. She has won Best Paper/Presentation of the Session Awards 12 times at ION GNSS+ conferences. She received the Dean's Award for Excellence in Research from the College of Engineering, University of Illinois at Urbana-Champaign in 2017. For her teaching, Prof. Gao has been on the List of Teachers Ranked as Excellent by Their Students at University of Illinois multiple times. She won the College of Engineering Everitt Award for Teaching Excellence in 2015, AIAA Illinois Chapter’s Teacher of the Year in 2016, and the Engineering Council Award for Excellence in Advising in 2017.