Szczegóły

Tytuł artykułu

Estimation of small uav position and attitude with reliable in-flight initial alignment for MEMS inertial sensors

Tytuł czasopisma

Metrology and Measurement Systems

Wolumin

vol. 25

Numer

No 3

Autorzy publikacji

Słowa kluczowe

MEMS ; INS ; GNSS ; in-flight alignment ; unmanned aerial vehicle

Wydział PAN

Nauki Techniczne

Zakres

603–616

Abstrakt

The advance of MEMS-based inertial sensors successfully expands their applications to small unmanned

aerial vehicles (UAV), thus resulting in the challenge of reliable and accurate in-flight alignment for airborne

MEMS-based inertial navigation system (INS). In order to strengthen the rapid response capability

for UAVs, this paper proposes a robust in-flight alignment scheme for airborne MEMS-INS aided by global

navigation satellite system (GNSS). Aggravated by noisy MEMS sensors and complicated flight dynamics,

a rotation-vector-based attitude determination method is devised to tackle the in-flight coarse alignment

problem, and the technique of innovation-based robust Kalman filtering is used to handle the adverse impacts

of measurement outliers in GNSS solutions. The results of flight test have indicated that the proposed

alignment approach can accomplish accurate and reliable in-flight alignment in cases of measurement outliers,

which has a significant performance improvement compared with its traditional counterparts.

Wydawca

Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation

Data

2018.10.01

Typ

Artykuły / Articles

Identyfikator

ISSN 0860-8229

DOI

10.24425/123904

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