Abstract
This paper examines in-flight performance of a low-cost tightly coupled multi-antenna GPS/INS capable of producing highly accurate attitude of small UAVs. The main disadvantage of low-cost GPS/INS based on MEMS inertial sensors is that the typical yaw angle accuracy is limited to 0.5-2 deg. In this regard, a GPS compass using carrier-phase measurements can achieve higher attitude accuracy. However, fast and reliable ambiguity resolution using low-cost GPS LI receiver modules is a challenging task for small and highly maneuverable UAVs. In the proposed method, a tightly coupled GPS/INS is tightly integrated with a GPS compass, which allows for effective and reliable ambiguity search to be performed on the basis of the attitude as estimated by GPS/INS with a couple of constraints for the base line vectors. The in-flight performance of the proposed GPS/INS was verified through hardware-in-the-loop simulations and experimental flights. The verification of attitude accuracy for the small UAV is highly difficult because the weight of the high-performance reference GPS/INS exceeds the loading capabilities of the small UAV. In this paper, a photogrammetry based attitude verification technique is used for the performance evaluation.
| Original language | English |
|---|---|
| Title of host publication | 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008 |
| Pages | 533-543 |
| Number of pages | 11 |
| Volume | 1 |
| Publication status | Published - 2008 |
| Event | 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008 - Savannah, GA, United States Duration: 2008 Sep 16 → 2008 Sep 19 |
Other
| Other | 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008 |
|---|---|
| Country | United States |
| City | Savannah, GA |
| Period | 08/9/16 → 08/9/19 |
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ASJC Scopus subject areas
- Computer Networks and Communications
- Aerospace Engineering
- Communication
Cite this
Performance evaluation of low cost multi-antenna GPS/INS for small UAVs. / Hirokawa, Rui; Ohata, Ryusuke; Suzuki, Taro; Ebinuma, Takuji.
21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008. Vol. 1 2008. p. 533-543.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Performance evaluation of low cost multi-antenna GPS/INS for small UAVs
AU - Hirokawa, Rui
AU - Ohata, Ryusuke
AU - Suzuki, Taro
AU - Ebinuma, Takuji
PY - 2008
Y1 - 2008
N2 - This paper examines in-flight performance of a low-cost tightly coupled multi-antenna GPS/INS capable of producing highly accurate attitude of small UAVs. The main disadvantage of low-cost GPS/INS based on MEMS inertial sensors is that the typical yaw angle accuracy is limited to 0.5-2 deg. In this regard, a GPS compass using carrier-phase measurements can achieve higher attitude accuracy. However, fast and reliable ambiguity resolution using low-cost GPS LI receiver modules is a challenging task for small and highly maneuverable UAVs. In the proposed method, a tightly coupled GPS/INS is tightly integrated with a GPS compass, which allows for effective and reliable ambiguity search to be performed on the basis of the attitude as estimated by GPS/INS with a couple of constraints for the base line vectors. The in-flight performance of the proposed GPS/INS was verified through hardware-in-the-loop simulations and experimental flights. The verification of attitude accuracy for the small UAV is highly difficult because the weight of the high-performance reference GPS/INS exceeds the loading capabilities of the small UAV. In this paper, a photogrammetry based attitude verification technique is used for the performance evaluation.
AB - This paper examines in-flight performance of a low-cost tightly coupled multi-antenna GPS/INS capable of producing highly accurate attitude of small UAVs. The main disadvantage of low-cost GPS/INS based on MEMS inertial sensors is that the typical yaw angle accuracy is limited to 0.5-2 deg. In this regard, a GPS compass using carrier-phase measurements can achieve higher attitude accuracy. However, fast and reliable ambiguity resolution using low-cost GPS LI receiver modules is a challenging task for small and highly maneuverable UAVs. In the proposed method, a tightly coupled GPS/INS is tightly integrated with a GPS compass, which allows for effective and reliable ambiguity search to be performed on the basis of the attitude as estimated by GPS/INS with a couple of constraints for the base line vectors. The in-flight performance of the proposed GPS/INS was verified through hardware-in-the-loop simulations and experimental flights. The verification of attitude accuracy for the small UAV is highly difficult because the weight of the high-performance reference GPS/INS exceeds the loading capabilities of the small UAV. In this paper, a photogrammetry based attitude verification technique is used for the performance evaluation.
UR - http://www.scopus.com/inward/record.url?scp=70249140302&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70249140302&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:70249140302
SN - 9781605606897
VL - 1
SP - 533
EP - 543
BT - 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008
ER -