A Micro Aerial Vehicle with Precise Position and Attitude Sensors
A Micro Aerial Vehicle with Precise Position and Attitude Sensors
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带有精确位置和姿态传感器的微型飞行器
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
J. Skaloud
中科院分区：
文献类型：
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作者：
M. Rehák;R. Mabillard;J. Skaloud
这项研究展示了导航技术在重量不超过5公斤的微型飞行器(MAV)位置和姿态确定领域的潜力。尽管MAV系统具有很高的灵活性和飞行能力，可以飞到不适合人类居住或无法到达的区域，但机上定位和姿态估计的精确度降低了捕获图像的获取价值。这将他们的操作模式限制为间接地理配准。本文介绍了一种具有导航传感器有效载荷的低成本MAV的开发，它将确保精确的位置和姿态控制，从而使直接或集成传感器定位都能受益。在描述了硬件配置和所有测量的同步之后，我们给出了一个案例研究，评估了定位组件的性能及其在无地面控制的集成传感器定位中的应用。在那里，我们表明，由于实施了多频率、低功率GNSS接收器，该系统潜在地可以获得在人工操作的航空母舰上飞行的更大平台的映射特性，同时保持传感器的大小和重量适合于MAV操作。使用参考(导航级)惯导系统在地面车辆上对承载多个MEMS-IMU的开发板的姿态精度进行了动态评估。虽然这种方法提供了对定位精度的连续评估，并且获得了关于预期操作的令人满意的结果，但这一性能仍有待在飞行中得到证实。
This study shows the potential of navigation technologies in the field of position and orientation determination on a micro aerial vehicle (MAV), which weight does not exceed 5 kg. Although the MAV systems feature high flexibility and capability of flying into areas that are inhospitable or inaccessible to humans, the lack of precision in positioning and attitude estimation on-board decreases the gained value of the captured imagery. This limits their mode of operation to indirect georeferencing. This paper pre-sents the development of a low cost MAV with navigation-sensor payload that shall assure a position and attitude control with accuracy from which either direct or integrated sensor orientation can benefit. After describing the hardware configuration and the synchronization of all measurements we present a case study that evaluates the performance of the positioning component and its application on integrated sensor orientation without ground control. There we show that thanks to the implementation of a multi-frequency, low power GNSS receiver, the system can potentially attain the mapping characteristics of much larger platforms flown on man-operated carriers while keeping the sensor size and weight suitable for MAV operations. The attitude accuracy of the developed board hosting several MEMS-IMUs is evaluated dynamically on a terrestrial vehicle using a reference (navigation grade) INS. Although this method offers continuous evaluation of the orientation accuracy and the obtained results are satisfactory with respect to the foreseen operations, this performance remains to be confirmed in a flight.