Performance evaluation of low cost multi-antenna GPS/INS for small UAVs

Rui Hirokawa, Ryusuke Ohata, Taro Suzuki, Takuji Ebinuma

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

2 Citations (Scopus)

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 languageEnglish
Title of host publication21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008
Pages533-543
Number of pages11
Volume1
Publication statusPublished - 2008
Event21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008 - Savannah, GA, United States
Duration: 2008 Sep 162008 Sep 19

Other

Other21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008
CountryUnited States
CitySavannah, GA
Period08/9/1608/9/19

Fingerprint

Unmanned aerial vehicles (UAV)
Global positioning system
Antennas
flight
costs
evaluation
performance
Costs
Flight dynamics
hardware
recipient
Phase measurement
Photogrammetry
simulation
MEMS
Hardware
Sensors

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Aerospace Engineering
  • Communication

Cite this

Hirokawa, R., Ohata, R., Suzuki, T., & Ebinuma, T. (2008). Performance evaluation of low cost multi-antenna GPS/INS for small UAVs. In 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008 (Vol. 1, pp. 533-543)

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 proceedingConference contribution

Hirokawa, R, Ohata, R, Suzuki, T & Ebinuma, T 2008, Performance evaluation of low cost multi-antenna GPS/INS for small UAVs. in 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008. vol. 1, pp. 533-543, 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008, Savannah, GA, United States, 08/9/16.
Hirokawa R, Ohata R, Suzuki T, Ebinuma T. Performance evaluation of low cost multi-antenna GPS/INS for small UAVs. In 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008. Vol. 1. 2008. p. 533-543
Hirokawa, Rui ; Ohata, Ryusuke ; Suzuki, Taro ; Ebinuma, Takuji. / Performance evaluation of low cost multi-antenna GPS/INS for small UAVs. 21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008. Vol. 1 2008. pp. 533-543
@inproceedings{2541eee655a04f3c835ff0c6bc322920,
title = "Performance evaluation of low cost multi-antenna GPS/INS for small UAVs",
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.",
author = "Rui Hirokawa and Ryusuke Ohata and Taro Suzuki and Takuji Ebinuma",
year = "2008",
language = "English",
isbn = "9781605606897",
volume = "1",
pages = "533--543",
booktitle = "21st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2008",

}

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 -