Integrating glonass with gps for drone orientation tracking

Mahanth Gowda, Justin Manweiler, Ashutosh Dhekne, Romit Roy Choudhury, Justin D. Weisz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


In addition to position sensing, GPS receivers can be leveraged for orientation sensing too. We place multiple GPS receivers on drones and translate their relative positions into orientation. Such an orthogonal mode of orientation sensing provides failsafe under Inertial sensor failures – a primary cause of drone crashes today. This paper integrates GLONASS satellite measurements with GPS for enhancing the orientation accuracy. Accurate estimate of orientation depends upon high precision relative positioning of the GPS receivers. While GPS carrier phases provide high precision ranging data, the phases are noisy and wrap after every wavelength which introduces ambiguity. Moreover, GPS signals experience poor SNR and loss of satellite locks under aggressive flights. This can severely limit both the accuracy and the amount of carrier phase data available. Fortunately, integrating the ubiquitously available Russian GLONASS satellites with GPS can double the amount of observations and substantially improve the robustness of orientation estimates. However, the fusion is non-trivial because of the operational difference between FDMA based GLONASS and CDMA based GPS. This paper proposes a temporal differencing scheme for fusion of GLONASS and GPS measurements, through a system called SafetyNet. Results from 11 sessions of 5–7 min flights report median orientation accuracies of 2 even under overcast weather conditions.

Original languageEnglish (US)
Title of host publicationCommunication Systems and Networks- 9th International Conference, COMSNETS 2017, Revised Selected Papers and Invited Papers
EditorsNishanth Sastry, Sandip Chakraborty
Number of pages16
ISBN (Print)9783319672342
StatePublished - 2017
Event9th International Conference on Communication Systems and Networks, COMSNETS 2017 - Bengaluru, India
Duration: Jan 4 2017Jan 8 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10340 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference9th International Conference on Communication Systems and Networks, COMSNETS 2017

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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