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GPS Aided IMU for Unmanned Air Vehicles
J.F. Vasconcelos; J. Calv´ario; P. Oliveira; C. Silvestre
2004
Conference Namethe 5th IFAC Symposium on Intelligent Autonomous Vehicles
Source PublicationProc. of the 5th IFAC Symposium on Intelligent Autonomous Vehicles
Conference DateJune 5 - 7, 2004
Conference PlaceLisboa, Portugal
Abstract

This paper presents the development of a strapdown navigation system to determine the pose (position and attitude) of unmanned air vehicles, using GPS, accelerometers, magnetometers and rate gyros triads. The current work resorts to complementary filtering to implement a navigation system developed on Earth coordinates and Euler angles. Special features include bias estimation and removal in inertial sensors. An attitude aiding device, referred to as Magneto-Pendular Sensor, is introduced and detailed. Multirate filter synthesis is outlined, and a time-varying attitude transformation is briefly discussed. The navigation system performance is evaluated in simulation using a typical model-scale helicopter maneuver

KeywordNavigation Systems Strapdown Systems Time-varying Systems Complementary Filters,
DOIhttps://doi.org/10.1016/S1474-6670(17)32019-0
Indexed By其他
Language英语
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Document TypeConference paper
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
AffiliationInstituto Superior T´ecnico, Institute for Systems and Robotics, Lisboa, Portugal
Recommended Citation
GB/T 7714
J.F. Vasconcelos,J. Calv´ario,P. Oliveira,et al. GPS Aided IMU for Unmanned Air Vehicles[C],2004.
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