DocumentCode
3285340
Title
An experimental validation of magnetometer integration into a GPS-aided helicopter UAV navigation system
Author
Barczyk, M. ; Jost, M. ; Kastelan, D.R. ; Lynch, A.F. ; Listmann, K.D.
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
4439
Lastpage
4444
Abstract
This paper considers the integration of a triaxial magnetometer sensor into an existing navigation system for a helicopter Unmanned Aerial Vehicle (UAV). An existing inertial navigation system uses triaxial accelerometer and rate gyro measurements and is aided by GPS. A novel calibration method for the magnetometer is implemented. The integration of the calibrated magnetometer into the existing design is experimentally shown to improve navigation filter accuracy.
Keywords
Global Positioning System; accelerometers; helicopters; inertial navigation; magnetometers; mobile robots; GPS; helicopter; inertial navigation system; navigation filter; triaxial accelerometer; triaxial magnetometer sensor; unmanned aerial vehicle; Accelerometers; Aircraft navigation; Calibration; Global Positioning System; Helicopters; Inertial navigation; Magnetic sensors; Magnetometers; Sensor systems; Unmanned aerial vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5530999
Filename
5530999
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