Heading and attitude determination system with low-cost IMU embedded inside one of multiple antennas

Vasilyuk, Nikolay N.; Vorobiev, M.; Tokarev, D.

doi:10.1109/plans.2018.8373390

Cited by 7 publications

(1 citation statement)

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“…This motivates the use of low-cost commercial-off-theshelf receivers for aiding in estimation of heading or attitude. The determination of attitude using dedicated multi-antenna receivers, where a single common clock is used for all tracking, has been researched by multiple authors [5]- [10]. The use of a common clock, which is not the case when multiple independent receivers are used, simplifies the measurement processing, but requires dedicated hardware.…”

Section: Introductionmentioning

confidence: 99%

Pose Estimation of UAVs Based on INS Aided by Two Independent Low-Cost GNSS Receivers

Sollie

Bryne

Johansen

2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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Increasing use of UAVs in high-precision applications, such as georeferencing and photogrammetry, increases the requirements on the accuracy of the estimated position, velocity and attitude of the vehicle. Commercial systems that utilize magnetometers in the heading estimates are cheap, but are affected by disturbances from both the vehicle itself, nearby metal structures and variations in the Earth's magnetic field. On the other side, commercial dual-antenna satellite navigation systems can provide the required accuracy, but are expensive. This paper explores the use of a low-cost setup using two independent GNSS receivers, aiding an inertial navigation system by using pseudorange, Doppler frequency and carrier phase measurements from two longitudinally separated receivers on a fixed-wing UAV. The sensor integration was based on a multiplicative extended Kalman filter (MEKF). The main contribution of this paper is the derivation of measurement models for the raw GNSS measurements based on the MEKF error state, taking into account antenna lever arms and explicitly including the difference in measurement time between the receivers in the measurement model for double differenced carrier phase. The proposed method is verified using data collected from a UAV flight.

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Section: Introductionmentioning

confidence: 99%