Sensor fusion for navigation of an autonomous unmanned aerial vehicle

Author

Sasiadek, J.Z. ; Hartana, P.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, Ont., Canada

Volume

4

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

4029

Abstract

This paper presents the position and velocity determination by using INS and GPS. The measurement results from INS and GPS sensors are fused by using Kalman filter. Dilution of Precision (DOP) technique is used to select a combination of satellites to be used as measurement data. Two implementations of Kalman filter, feedforward and feedback are used. The experiment shows that the selection of the satellites affects the measurements. The methodology and experiments presented in this paper has been developed and tested for the autonomous Unmanned Aerial Vehicle (UAV).

Keywords

Global Positioning System; Kalman filters; aircraft control; feedback; feedforward; inertial navigation; position measurement; remotely operated vehicles; sensor fusion; velocity measurement; GPS sensors; INS sensors; Kalman filter; autonomous unmanned aerial vehicle; dilution of precision; feedback; feedforward; inertial navigation system; position determination; satellites; sensor fusion; velocity determination; Acceleration; Aircraft navigation; Filters; Global Positioning System; Inertial navigation; Remotely operated vehicles; Satellite navigation systems; Sensor fusion; Sensor systems; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308901

Filename

1308901