Title :
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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723580
