A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas

Rui Hirokawa, Ryusuke Ohata, Takuji Ebinuma, Taro Suzuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, a tightly coupled GPS/INS based on low cost MEMS sensors with multiple GPS antennas providing highly accurate attitude of a small UAV is proposed. The attitude accuracy of the typical GPS/INS sensor is limited to 1 deg-3 deg because of the instability of MEMS inertial sensors. The higher attitude accuracy can be obtained by a GPS compass using the carrier phase measurements. However, the fast and reliable ambiguity resolution using the low cost GPS L1 receiver modules is highly challenging for the highly maneuverable small UAV. For the proposed method, a tightly coupled GPS/INS is also tightly integrated with the GPS compass. The effective and reliable ambiguity search can be performed based on the estimated attitude by GPS/INS with a couple of constraints for the base line vector. The performance of the GPS/INS sensor on the flight is evaluated by the hardware-in-the-loop simulations using GPS RF simulator, and the field test. The heading accuracy better than 0.12 deg (ls) was confirmed.

Original languageEnglish
Title of host publication20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007
Pages96-103
Number of pages8
Volume1
Publication statusPublished - 2007
Event20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007 - Fort Worth, TX, United States
Duration: 2007 Sep 252007 Sep 28

Other

Other20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007
CountryUnited States
CityFort Worth, TX
Period07/9/2507/9/28

Fingerprint

Unmanned aerial vehicles (UAV)
Global positioning system
Antennas
Sensors
Costs
MEMS
Phase measurement
Simulators
Hardware

ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Electrical and Electronic Engineering

Cite this

Hirokawa, R., Ohata, R., Ebinuma, T., & Suzuki, T. (2007). A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas. In 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007 (Vol. 1, pp. 96-103)

A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas. / Hirokawa, Rui; Ohata, Ryusuke; Ebinuma, Takuji; Suzuki, Taro.

20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007. Vol. 1 2007. p. 96-103.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hirokawa, R, Ohata, R, Ebinuma, T & Suzuki, T 2007, A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas. in 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007. vol. 1, pp. 96-103, 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007, Fort Worth, TX, United States, 07/9/25.
Hirokawa R, Ohata R, Ebinuma T, Suzuki T. A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas. In 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007. Vol. 1. 2007. p. 96-103
Hirokawa, Rui ; Ohata, Ryusuke ; Ebinuma, Takuji ; Suzuki, Taro. / A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas. 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007. Vol. 1 2007. pp. 96-103
@inproceedings{1c85ae164d034cd29f37d36f2b86cef9,
title = "A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas",
abstract = "In this paper, a tightly coupled GPS/INS based on low cost MEMS sensors with multiple GPS antennas providing highly accurate attitude of a small UAV is proposed. The attitude accuracy of the typical GPS/INS sensor is limited to 1 deg-3 deg because of the instability of MEMS inertial sensors. The higher attitude accuracy can be obtained by a GPS compass using the carrier phase measurements. However, the fast and reliable ambiguity resolution using the low cost GPS L1 receiver modules is highly challenging for the highly maneuverable small UAV. For the proposed method, a tightly coupled GPS/INS is also tightly integrated with the GPS compass. The effective and reliable ambiguity search can be performed based on the estimated attitude by GPS/INS with a couple of constraints for the base line vector. The performance of the GPS/INS sensor on the flight is evaluated by the hardware-in-the-loop simulations using GPS RF simulator, and the field test. The heading accuracy better than 0.12 deg (ls) was confirmed.",
author = "Rui Hirokawa and Ryusuke Ohata and Takuji Ebinuma and Taro Suzuki",
year = "2007",
language = "English",
isbn = "9781605600697",
volume = "1",
pages = "96--103",
booktitle = "20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007",

}

TY - GEN

T1 - A low cost GPS/INS sensor for small UAVs augmented with multiple GPS antennas

AU - Hirokawa, Rui

AU - Ohata, Ryusuke

AU - Ebinuma, Takuji

AU - Suzuki, Taro

PY - 2007

Y1 - 2007

N2 - In this paper, a tightly coupled GPS/INS based on low cost MEMS sensors with multiple GPS antennas providing highly accurate attitude of a small UAV is proposed. The attitude accuracy of the typical GPS/INS sensor is limited to 1 deg-3 deg because of the instability of MEMS inertial sensors. The higher attitude accuracy can be obtained by a GPS compass using the carrier phase measurements. However, the fast and reliable ambiguity resolution using the low cost GPS L1 receiver modules is highly challenging for the highly maneuverable small UAV. For the proposed method, a tightly coupled GPS/INS is also tightly integrated with the GPS compass. The effective and reliable ambiguity search can be performed based on the estimated attitude by GPS/INS with a couple of constraints for the base line vector. The performance of the GPS/INS sensor on the flight is evaluated by the hardware-in-the-loop simulations using GPS RF simulator, and the field test. The heading accuracy better than 0.12 deg (ls) was confirmed.

AB - In this paper, a tightly coupled GPS/INS based on low cost MEMS sensors with multiple GPS antennas providing highly accurate attitude of a small UAV is proposed. The attitude accuracy of the typical GPS/INS sensor is limited to 1 deg-3 deg because of the instability of MEMS inertial sensors. The higher attitude accuracy can be obtained by a GPS compass using the carrier phase measurements. However, the fast and reliable ambiguity resolution using the low cost GPS L1 receiver modules is highly challenging for the highly maneuverable small UAV. For the proposed method, a tightly coupled GPS/INS is also tightly integrated with the GPS compass. The effective and reliable ambiguity search can be performed based on the estimated attitude by GPS/INS with a couple of constraints for the base line vector. The performance of the GPS/INS sensor on the flight is evaluated by the hardware-in-the-loop simulations using GPS RF simulator, and the field test. The heading accuracy better than 0.12 deg (ls) was confirmed.

UR - http://www.scopus.com/inward/record.url?scp=57649168310&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=57649168310&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:57649168310

SN - 9781605600697

VL - 1

SP - 96

EP - 103

BT - 20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007

ER -