Design and implementation of a compact RUAV navigation system

Author

Wu, Chong ; Song, Dalei ; Dai, Lei ; Qi, Juntong ; Han, Jianda ; Wang, Yuechao

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China

fYear

2010

fDate

14-18 Dec. 2010

Firstpage

1662

Lastpage

1667

Abstract

A small, low-cost, light-weight, and compact GPS/INS navigation system for a Rotorcraft UAV (RUAV) was designed and implemented on an ARM9 LPC3250 platform, and the process is discussed in this paper. Based on the characteristics of the sensors, a two-stage Extended Kalman Filter (EKF) is embedded to estimate the flight states, get rid of online noise, and fed back the results to the flight controller. Some practical problems about realizing the algorithm have been addressed. The full system has been tested successfully on a ServorHeli-40 RUAV platform. Based on this navigation system, further research in navigation and control theory can be implemented and tested experimentally.

Keywords

Kalman filters; aerospace control; helicopters; remotely operated vehicles; ARM9 LPC3250 platform; EKF; GPS navigation system; INS navigation system; compact RUAV navigation system; extended Kalman filter; flight controller; Accelerometers; Estimation; Global Positioning System; Sensor systems; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-9319-7

Type

conf

DOI

10.1109/ROBIO.2010.5723580

Filename

5723580