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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.



    Conference:

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



    Publication date :

    2024-11-08


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    GNSS/INS/VO fusion using Gated Recurrent Unit in GNSS denied environments

    Negru, Sorin A. / Geragersian, Patrick / Petrunin, Ivan et al. | AIAA | 2023




    Geometric dilution of precision of the GNSS for Mars (GNSS FATIMA)

    Jozef Kozar / Stanislav Durco / Frantisek Adamcik | DOAJ | 2016

    Free access

    GNSS Position Integrity in Urban Environments: A Review of Literature

    Zhu, Ni / Marais, Juliette / Betaille, David et al. | IEEE | 2018

    Free access