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

Abstract

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.

article Article

date_range 2024

language English

link Link of the paper

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Xiong Shangyi

Liu Hugh

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Featured Keywords

Satellites

Global navigation satellite system

Autonomous aerial vehicles

Geometry

Receivers

Uncertainty

Robustness

flight control

robust control

trajectory tracking

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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