Layh, TrevorLarson, JordanJackson, JohnAgamawi, YunusTaylor, BrianGebre-Egziabher, DemozKrause, JoelGustafson, Jacob2015-03-272015-03-272015-02https://hdl.handle.net/11299/170849Cell Phone Navigation project funded by the U.S. Department of Homeland Security in Fall 2013 which tasked the UMN UAV Research Lab with proposing a backup navigation system within one year for SUAVs in GPS-denied environments. A cascaded Attitude Heading Reference System and Dead Reckoning system was designed which was capable of being aided by cell phone time-of-arrival information. This backup navigation system was integrated into a UltraStick 25e airframe equipped with the Goldy Flight Control System. Flight testing was conducted to characterize performance during short duration GPS outages. Longer duration GPS outages were simulated using Monte Carlo hardware-in-the-loop simulations. A full report on this work was created for DHS and is included in this project archive. Additionally, this research was presented and published for the Institute of Navigation International Technical Meeting, and those materials are also included in this project archive.enCell Phone Navigation Attitude Heading Reference System AHRS Dead Reckoning DROther