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

Atsumi Toda, Yoshikazu Koike

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルINERTIAL 2021 - 8th IEEE International Symposium on Inertial Sensors and Systems, Proceedings
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728150994
DOI
出版ステータスPublished - 2021 3 22
イベント8th IEEE International Symposium on Inertial Sensors and Systems, INERTIAL 2021 - Virtual, Kailua-Kona, United States
継続期間: 2021 3 222021 3 25

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • 制御と最適化
  • 器械工学

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