A Miniature Integrated Navigation System for Rotary-Wing Unmanned Aerial Vehicles
This paper presents the development of a low cost miniature navigation system for autonomous flying rotary-wing unmanned aerial vehicles (UAVs). The system incorporates measurements from a low cost single point GPS and a triaxial solid state inertial/magnetic sensor unit. The navigation algorithm is...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/748940 |
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| Summary: | This paper presents the development of a low
cost miniature navigation system for autonomous flying rotary-wing
unmanned aerial vehicles (UAVs). The system incorporates
measurements from a low cost single point GPS and a triaxial
solid state inertial/magnetic sensor unit. The navigation algorithm
is composed of three modules running on a microcontroller:
the sensor calibration module, the attitude estimator, and the
velocity and position estimator. The sensor calibration module
relies on a recursive least square based ellipsoid hypothesis
calibration algorithm to estimate biases and scale factors of
accelerometers and magnetometers without any additional calibration
equipment. The attitude estimator is a low computational
linear attitude fusion algorithm that effectively incorporates high
frequency components of gyros and low frequency components of
accelerometers and magnetometers to guarantee both accuracy
and bandwidth of attitude estimation. The velocity and position
estimator uses two cascaded complementary filters which fuse
translational acceleration, GPS velocity, and position to improve
the bandwidth of velocity and position. The designed navigation
system is feasible for miniature UAVs due to its low cost, simplicity,
miniaturization, and guaranteed estimation errors. Both
ground tests and autonomous flight tests of miniature unmanned
helicopter and quadrotor have shown the effectiveness of the
proposed system, demonstrating its promise in UAV systems. |
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| ISSN: | 1687-5966 1687-5974 |