This paper addresses attitude and heading estimation for small UAVs(Unmanned aerial vehicle) using low-cost MEMS (Micro-Electro-Mechanical System) AHRS(Attitude Heading Reference System). It compares Kalman filter and Complementary filter method used for attitude estimation by utilizing MEMS sensors, and uses ellipsoidal fitting calibration and magnetic heading angle calibration method of18 points with 17 parameters to conduct secondary calibration of the magnetic heading angle. In this paper, the overall design of the navigation system of small UAV and the prototype of the navigation system are developed and experimented. The experiment shows that the attitude angle error of the navigation system is less than 0.4°, and the heading angle error is less than 2°.


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    Title :

    Research on Navigation Technology of Small UAV Based on MEMS Sensor


    Contributors:
    Yu, CaiZhen (author) / Wang, Pinghui (author) / Han, Song (author) / Bai, Siliang (author)


    Publication date :

    2022-07-01


    Size :

    761523 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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