TY - GEN
T1 - Simulation Design of Thermopile and Magnetometer Aided INS/GPS Navigation System for UAV Navigation
AU - Toda, Atsumi
AU - Koike, Yoshikazu
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/22
Y1 - 2021/3/22
N2 - This paper proposes a thermopile and magnetometer-assisted INS/GPS navigation as a robust navigation method for attitude estimation compared to the conventional loosely-coupled INS/GPS method. This system aims to maintain the accuracy of attitude estimation even when autonomous UAV loses GPS signals temporarily, and to continue the flight without crashing. Accuracy of the attitude estimation is maintained by directly correcting the attitude estimates (roll, pitch, and heading) from INS by using the infrared intensity and magnetic-based sensor models. We performed the simulation to compare the accuracy of the proposed method and loosely-coupled INS/GPS. Results showed that when the GPS signal is active, the estimation accuracy of the two methods for attitude, velocity, and position are identical. Moreover, when the GPS signal is lost, all the estimates deteriorate in the conventional method, while our system maintains the accuracy of the attitude estimation and suppresses the decrease in the accuracy of the velocity and position estimates.
AB - This paper proposes a thermopile and magnetometer-assisted INS/GPS navigation as a robust navigation method for attitude estimation compared to the conventional loosely-coupled INS/GPS method. This system aims to maintain the accuracy of attitude estimation even when autonomous UAV loses GPS signals temporarily, and to continue the flight without crashing. Accuracy of the attitude estimation is maintained by directly correcting the attitude estimates (roll, pitch, and heading) from INS by using the infrared intensity and magnetic-based sensor models. We performed the simulation to compare the accuracy of the proposed method and loosely-coupled INS/GPS. Results showed that when the GPS signal is active, the estimation accuracy of the two methods for attitude, velocity, and position are identical. Moreover, when the GPS signal is lost, all the estimates deteriorate in the conventional method, while our system maintains the accuracy of the attitude estimation and suppresses the decrease in the accuracy of the velocity and position estimates.
KW - UAV
KW - attitude estimation
KW - inertial navigation
KW - magnetometer
KW - thermopile
UR - http://www.scopus.com/inward/record.url?scp=85107609657&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85107609657&partnerID=8YFLogxK
U2 - 10.1109/INERTIAL51137.2021.9430487
DO - 10.1109/INERTIAL51137.2021.9430487
M3 - Conference contribution
AN - SCOPUS:85107609657
T3 - INERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
BT - INERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Symposium on Inertial Sensors and Systems, INERTIAL 2021
Y2 - 22 March 2021 through 25 March 2021
ER -