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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Aerospace Engineering
  • Communication

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  • 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)