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Sensitivity to Time Delays in VDM-Based Navigation

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute time frame as inertial measurement unit (IMU) data and all other observations when available (e.g., global navigation satellite system (GNSS) position, barometric altitude, etc.). This study analyzes the (non-) tolerances of possible delays in control-input command with respect to navigation performance on a fixed-wing unmanned aerial vehicle (UAV). Multiple simulations using two emulated trajectories based on real flights reveal the vital importance of correct time-tagging of servo data while that of motor data turned out to be tolerable to a considerably large extent.