Dynamic Artificial Neural Network-Assisted GPS-Less Navigation for IoT-Enabled Drones
Why this work is in the frame
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Bibliographic record
Abstract
Uncrewed Aerial Vehicles (UAVs) have enabled key duties in emergency preparedness, traffic monitoring, environmental monitoring, and public safety. Since the presence of GPS-enabled contexts is not always guaranteed, a grand challenge with the UAVs is the lack of accomplishing their tasks without the presence of GPS coordinates (latitude, longitude, and altitude). Hence, the performance of UAVs in GPS-denied environments is expected to degrade dramatically when compared to the UAVs employed in GPS-enabled environments. In this article, an alternative approach to the state-of-the-art, Dynamic Artificial Neural Network (D-ANN)-based solution is proposed to assist UAV navigation without GPS positions during a mission. Besides accelerometer and gyroscope data, Pulse Width Modulation (PWM) signals, which have been traditionally used in the design of UAV flight controllers, are proposed to be a part of the input for D-ANN-assisted UAV navigation without GPS data. Since the latitude, longitude, and altitude values of the UAV are not correlated, each position is obtained through a separate D-ANN system. The proposed D-ANN location of a quadrotor UAV assisted by D-ANN has less than 3m average destination error at the end of the testing trajectory and also less than 0.12 average normalized mean square error during the testing trajectory in terms of the 3D GPS coordinates.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it