Simulation Design of Thermopile and Magnetometer Aided INS/GPS Navigation System for UAV Navigation

Atsumi Toda, Yoshikazu Koike

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationINERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728150994
DOIs
Publication statusPublished - 2021 Mar 22
Event8th IEEE International Symposium on Inertial Sensors and Systems, INERTIAL 2021 - Virtual, Kailua-Kona, United States
Duration: 2021 Mar 222021 Mar 25

Publication series

NameINERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings

Conference

Conference8th IEEE International Symposium on Inertial Sensors and Systems, INERTIAL 2021
Country/TerritoryUnited States
CityVirtual, Kailua-Kona
Period21/3/2221/3/25

Keywords

  • attitude estimation
  • inertial navigation
  • magnetometer
  • thermopile
  • UAV

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation

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