UAVs such as multi-copters use GNSS to obtain position information for position control; when RTK-GNSS is used, the position accuracy is within a few centimeters. However, if a UAV enters an environment where satellite signals cannot be received, such as under a bridge or in a tunnel, position control becomes impossible. To cope with such cases, we propose a system that combines RTK-GNSS and a high-precision IMU. In this study, a multi-copter is equipped with RTK-GNSS and an IMU. When the multi-copter enters under a bridge or a short tunnel and the RTK-GNSS positioning state becomes RTK-Float, the system switches to inertial navigation using the IMU. It was confirmed that the UAV could fly with high accuracy for about 30 s after entering this state. The maximum error in position after disconnecting the RTK-GPS antenna was about 2.83 m. Then, when the RTK-GNSS positioning state returns to RTK-Fixed, it switches to flight using RTK-GNSS positioning information. The effectiveness of the proposal was confirmed through actual flight experiments.


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    Titel :

    Position Control Between GNSS and Non-GNSS Environments Using High Precision IMU


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Akmeliawati, Rini (Herausgeber:in) / Harvey, David (Herausgeber:in) / Sergiienko, Nataliia (Herausgeber:in) / Yang, Lung-Jieh (Herausgeber:in) / Park, Hoon Cheol (Herausgeber:in) / Miwa, Masafumi (Autor:in) / Shiromaru, Masataka (Autor:in) / Nishikawa, Keiichi (Autor:in) / Araki, Hisanori (Autor:in)

    Kongress:

    The International Conference on Intelligent Unmanned Systems ; 2023 ; Adelaide, SA, Australia July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    08.11.2024


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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