Coupled GPS/MEMS IMU Attitude Determination of Small UAVs with COTS
Coupled GPS/MEMS IMU Attitude Determination of Small UAVs with COTS
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DOI：
10.3390/electronics6010015
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发表时间：
2017-03-01
期刊：
影响因子：
2.9
通讯作者：
Montenegro, Sergio
中科院分区：
文献类型：
--
作者：
Strohmeier, Michael;Montenegro, Sergio
提出了一种重量限制为5 kg、占地面积为0.5mx0.5m的小型无人机姿态测量系统，该系统由单频全球定位系统(GPS)编码和载波相位测量与来自MEMS惯性测量单元(IMU)的数据耦合而成，仅使用消费级零部件-现成的(COTS)。传感器融合是使用两个扩展卡尔曼滤波器(EKF)来完成的，这两个扩展卡尔曼滤波器通过交换关于当前估计基线的信息来耦合。在基线为48 cm的情况下，该系统的静态航向精度与商用单频GPS航向系统相当，航向精度约为0.25度/m。飞行试验表明，该系统能够在没有辅助磁强计的情况下获得可靠和稳定的GPS航向估计。
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.