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Meeting	ACGS Committee Meeting 116 - Charlotte, NC - October 2015
Agenda Location	7 SUBCOMMITTEE D – DYNAMICS, COMPUTATIONS, AND ANALYSIS 7.2 Guidance, Navigation, and Control for Small UAS Electronic Geofencing
Title	Guidance, Navigation, and Control for Small UAS Electronic Geofencing
Presenter	Ella Atkins
Affiliation	University of Michigan
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Small unmanned aircraft systems (UAS) are rapidly proliferating but detect-and-avoid is a challenge that current grounds numerous civil operations. Most emerging small UAS use cases call for flight within immediate reach of the ground, airspace manned aircraft rarely occupy except on approach or departure. Use of this very low-altitude airspace layer raises many questions in property rights and ownership, some of which are discussed in the context of the geofencing capability. Complementary geofencing concepts are investigated: "keep-in" geofencing to ensure a flight remains within a designated test range and "keep-out" geofencing to prevent flight into prohibited airspace volumes. A geofencing system passively monitors the flight, triggering as a guidance override on approach to an altitude or lateral fence boundary. Once active, the geofence turns the UAS back from the boundary then returns to its monitoring mode. An indoor geofencing case study with a quadrotor informed only by low-cost onboard sensors has been developed and is summarized. Results show that the fence can be maintained, and that the control authority switch can be done in a stable manner so long as the operator understands when the fence activates and deactivates.