UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts

This paper introduces UNICARagil, a collaborative project carried out by a consortium of seven German universities and six industrial partners, with funding provided by the Federal Ministry of Education and Research of Germany. In the scope of this project, disruptive modular structures for agile, automated vehicle concepts are researched and developed. Four prototype vehicles of different characteristics based on the same modular platform are going to be build up over a period of four years. The four fully automated and driverless vehicles demonstrate disruptive architectures in hardware and software, as well as disruptive concepts in safety, security, verification and validation. This paper outlines the most important research questions underlying the project

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed

UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts

This paper introduces UNICARagil, a collaborative project carried out by aconsortium of seven Germanuniversities and six industrial partners, withfunding providedby the Federal Ministry of Education and Research of Germany. In the scope of thisproject,disruptive modular structures for agile, automatedvehicle concepts areresearched and developed. Four prototypevehiclesof different characteristics based onthe same modular platform are going to be buildup over a period of four years. The fourfully automated and driverless vehiclesdemonstratedisruptive architectures in hardware and software, as well as disruptive concepts in safety, security, verificationand validation. This paper outlines themost importantresearch questions underlying the project