NAV
NavDrone: Map-Aided GNSS-Denied Navigation Engine
Offline Elevation Matching (DEM / DSM / DTM) + ES-EKF Real-Time Sensor Fusion
GNSS: JAMMED (OFFLINE)
REF: DSM + DTM
LOCKED (TRN NOMINAL)
1. Flight & Sensor Setup
PX4 Autopilot
Geospatial Target (Global)
AWS Terrarium
LOCATION PRESET
📍 Nandi Hills Escarpment (India) — 13.37°N, 77.68°E
📍 Grand Canyon South Rim (USA) — 36.05°N, 112.14°W
📍 Matterhorn / Zermatt (Swiss Alps) — 45.98°N, 7.66°E
📍 Mount Fuji (Japan) — 35.36°N, 138.73°E
📍 Yosemite / El Capitan (USA) — 37.73°N, 119.64°W
✏️ Custom Coordinates (Enter Below)
LATITUDE (°N)
LONGITUDE (°E)
SLIPPY ZOOM
Zoom 14 (~9.5m/post)
Zoom 13 (~19m/post)
Zoom 12 (~38m/post)
Fetch & Fly
Target: Nandi Hills (SRTM Zoom 14)
Navigation Scenario
Mode 1: Preloaded Maps + FOG INS (DSM-Aware)
Mode 1: Preloaded Maps + MEMS IMU (DSM-Aware)
Mode 1: Naive Bare DTM (Canopy Crash Test)
Mode 2: Reconstruct DSM → Extract DTM → Nav
Mode 3: Simultaneous Active SLAM + DEM Priors
Operating Mode
Mode 1
Offline Map
Mode 2
Map→Nav
Mode 3
Active SLAM
Inertial Sensor Grade
PhoQtek FOG
0.05°/hr Tactical
Pixhawk MEMS
5.0°/hr Standard
3D Camera View
Orbit
Chase
Belly Cam
2D Ortho
3D Visual Overlays
Surface DSM (Canopy & Buildings)
200-Particle TERCOM Cloud
3σ Covariance Ellipsoid
Dead-Reckoning Trajectories
Downward LiDAR Cone
Stress-Test Perturbation
DSM/DTM Mahalanobis NIS Gate
Ambient Light (VIO SNR)
100% (Daylight)
Zone 1: Steep Escarpment (High Observability)
Time:
0.0 s
Pos:
60, 600 m
Altitude:
0 m AMSL
LiDAR:
60 m AGL
Error:
0.35 m
3σ Radius:
1.85 m
True Path
EKF+TRN
FOG DR
MEMS DR
Pause
Restart
1×
2×
4×
A. ALTITUDE & TERRAIN CLEARANCE (m)
Cruising Safely Above Surface
B. POSITION ERROR & 3σ UNCERTAINTY (m)
Bounded Error vs. Failsafe
C. MAHALANOBIS NIS & χ² MAP GATE
χ² Threshold = 6.63
2. The 3 Continuous Questions
Live Fusion State
Q1: Where am I relative to the map?
EKF Position:
(60.0, 600.0, 650.0) m
Horizontal Error:
0.32 m
Active Map Ref:
DTM (Bare Earth)
Visual Landmark:
Searching...
Q2: How am I moving & how certain is it?
3σ Safety Radius:
1.85 m
Terrain Gradient Info:
0.0420 m⁻²
Pixhawk MEMS Pure DR:
0.0 m
PhoQtek FOG Pure DR:
0.0 m
Q3: Does environment match the stored map?
Map Match Gate:
ACCEPTED (LOCKED)
Surface Δh (DSM−DTM):
+0.0 m
Active Gate NIS (γ_k):
0.24
Flight Controller State:
NOMINAL
Scientific Benchmark Scorecard
Config
RMSE
CEP95
Max 3σ