The Institute of Aerospace Systems at Technische Universität Braunschweig, Germany develops and operates autonomously operating Mini Aerial Vehicles. Reliable and precise navigation data is essential for automated aerial vehicles. For this purpose, a low cost inertial measurement unit was tightly coupled with a low cost GPS receiver. A navigation Kalman filter has been designed to obtain a stable and accurate navigation solution with low cost sensors. This low cost navigation system was successfully implemented and resulted in excellent performance. For this accurate navigation solution, the GPS aiding is essential due to the use of highly drifting inertial sensors, which are based on micro-electro-mechanical systems. Thus, in case of GPS signal loss the quality of the navigation solution decreases after a short time. In this paper, another source for potential aiding data shall be investigated to compensate those errors due to GPS outages. For this purpose outputs of an air data system like angle of attack, sideslip angle and wind velocities shall be utilised to aid the inertial measurements. To present the potential performance and limitations of such an air data aided system, measurements from the institute's meteorological mini-UAV 'M2AV' are used. The aim of this paper is to investigate the applicability of this approach of bridging GPS-outages in MEMS based low-cost integrated navigation systems For this purpose, recorded data of the institute's meteorological mini unmanned aerial vehicle (UAV) M2AV is used This aircraft type is equipped with sensors for the precise determination of the wind vector and the measurement of the turbulent fluxes of sensible heat. Thus, the M2AV system is a good basis for the testing of presented algorithms.
Bridging of GPS-outages in low-cost integrated navigation systems
Symposium Gyro Technology, 2009 ; 8/1-8/17
2009
17 Seiten, 7 Bilder, 1 Tabelle, 16 Quellen
Aufsatz (Konferenz)
Englisch
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