An Autonomous GNSS/MEMS-Based INS Integrated System for Unmanned Mapping Operations

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The evolution of small unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs) in recent years has opened the door for the development of low-cost systems that can be used for many critical applications. These include seafloor and topographic mapping, disaster monitoring, search and rescue, public safety, precision agriculture, open-pit mining, road inspection, and others. The use of USVs and UAVs in these critical applications, however, often requires continuous high accuracy positioning and attitude information. Unfortunately, existing positioning and attitude systems are either very expensive and bulky or very inaccurate. The former system types, which typically integrate differential global positioning system (GPS) and high-end inertial sensors, cannot be used on small unmanned mapping systems due to their weight and cost. The latter types, on the other hand, often rely on low-cost GPS systems, which cannot provide accurate positioning and attitude information and are susceptible to signal blockage and interference, especially in urban areas.