期刊
ELECTRONICS
卷 6, 期 1, 页码 -出版社
MDPI AG
DOI: 10.3390/electronics6010015
关键词
UAV; attitude determination; Attitude Heading Reference System (AHRS); GPS; Real-time Kinematics (RTK); MEMS IMU; magnetometer
资金
- Helmholtz Alliance for Robotic Exploration of Extreme Environments
This paper proposes an attitude determination system for small Unmanned Aerial Vehicles (UAV) with a weight limit of 5 kg and a small footprint of 0.5 mx0.5 m. The system is realized by coupling single-frequency Global Positioning System (GPS) code and carrier-phase measurements with the data acquired from a Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) using consumer-grade Components-Off-The-Shelf (COTS) only. The sensor fusion is accomplished using two Extended Kalman Filters (EKF) that are coupled by exchanging information about the currently estimated baseline. With a baseline of 48 cm, the static heading accuracy of the proposed system is comparable to the one of a commercial single-frequency GPS heading system with an accuracy of approximately 0.25 degrees/m. Flight testing shows that the proposed system is able to obtain a reliable and stable GPS heading estimation without an aiding magnetometer.
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