Investigation Of Alternative Parameters For Immunity-Based Uav Navigation In Gnss-Denied Environment

This paper is focused on analyzing effects of several significant parameters on the performance of an immunity-inspired methodology for autonomous navigation of unmanned air vehicles when measurements from global navigation satellite systems (GNSS) or similar current sources, including external information of opportunity, are not available. An artificial immune system (AIS) provides corrections to a dead reckoning algorithm for adequate estimates of vehicle position and velocity. Parameter effects are assessed and analyzed through simulation in terms of trajectory tracking errors during autonomous flight.