GPS-Denied
Navigation in GPS-Denied Environments
Research Question
Can visual-beacon navigation achieve sub-3-meter accuracy in GPS-denied environments?
Digital Model
Mission/Navigation Logic Simulation
v1.0.0
c06_navigation
9 mission phases, 19 events, 12 anomalies, GO/NO-GO decision, battery state, navigation quality
Simplified sensor model; no real IMU/VIO traces; visual-beacon availability assumed; no jamming/spoofing modeled
Mission-phase state machine; no sensor-level simulation; no terrain matching; no real navigation error model
Inputs / Parameters
| Parameter | Value | Unit | Provenance |
|---|---|---|---|
| Scenario | nominal | — | DESIGNED |
| Mission duration | configured | — | DESIGNED |
MEASURED = 0 parameters across all 9 technologies. Physical calibration deferred.
Experiment
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What This Result Does Not Prove
This result does NOT prove: real sensor accuracy, GPS-denied navigation reliability, terrain matching viability, jamming/spoofing robustness, or physical flight performance. MISSION LOGIC SIMULATION ≠ PHYSICAL NAVIGATION VALIDATION.
Next Research Step
Run remaining degradation scenarios. Execute Nav MC. VIO bag replay with real data. HITL progressive degradation.
Bench IMU/VIO calibration. HITL testing. Short flight GPS-denied segment. Deferred.
Role
GPS-Denied navigation provides visual-beacon based positioning for autonomous flight in environments where GPS signal is unavailable or unreliable. Campaign C06.
Digital Results
C06 GPS-denied mission simulation executed. Mission complete. Final GO/NO-GO: GO (advisory-only, simulation-only). All mission phases completed in simulation. Simulation-only.
Physical Results
No physical validation. No bench IMU/VIO calibration. No HITL. No flight GPS-denied segment.
Proven
C06 GPS-denied mission simulation completed all phases with GO decision. Safety guard blocks real vehicle control. Fallback chain documented.
Not Yet Validated
GPS-denied navigation NOT validated for real flight (Requires Physical Validation). Robust under jamming/spoofing (Unknown). Non-nominal scenarios abort gracefully (Unknown). Terrain match viability at operational altitude. All results simulation-only.