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

Rui Hirokawa, Ryusuke Ohata, Takuji Ebinuma, Taro Suzuki

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007
ページ96-103
ページ数8
1
出版ステータスPublished - 2007
イベント20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007 - Fort Worth, TX, United States
継続期間: 2007 9 252007 9 28

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • ソフトウェア
  • 電子工学および電気工学

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