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Belief-Adaptive Online Autonomy for Quadrotor UAV Navigation under GNSS Degradation in Urban Environments

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Reliable online autonomy is critical for quadrotor operation in urban airspaces, where global navigation satellite systems (GNSS) measurements suffer from multipath, blockage, and latency issues, introducing non-stationary, temporally correlated errors that degrade conventional GNSS-IMU fusion. This paper presents a belief-adaptive online autonomy framework that augments an extended Kalman filter (EKF) with explicit GNSS trust modelling, second-order online belief adaptation, and latency-aware out-of-sequence measurement handling. GNSS trust is represented as a latent belief state that modulat

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