For achieving fully autonomous flight control and navigation of a Micro Air Vehicle aircraft state determination is essential. For that purpose a MEMS-based Inertial Measurement Unit was developed. In addition to the six inertial sensors, a temperature sensor embedded into one inertial sensor provides temperature information. After calibration of the sensor pack a flight test with the university's research aircraft, a DORNIER Do 128-6, equipped with the high-precision Inertial Navigation System HONEYWELL LASERNAV and a NOVATEL OEM3 GPS receiver as reference sensors was carried out. The results show that the calibration results can be confirmed by the reference sensors. First and second order approximations for the calibration tables turn out to provide equivalent navigation accuracy compared to the original calibration tables while saving computational power. In addition satellite and inertial navigation will be integrated within a tightly-coupled Kalman Filter using satellite ranges and delta-ranges. In order to improve the navigation performance especially during loss of GPS the attitude information derived from on-board camera images is used to aid the filter. The results presented are based on real flight measurement data for the MEMS-based sensors and on simulated GPS measurements.


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    Title :

    Application of micro-technology to integrated navigation of autonomous micro air vehicles


    Contributors:
    Winkler, S. (author) / Buschmann, M. (author) / Kordes, T. (author) / Schulz, H.W. (author) / Vorsmann, P. (author)


    Publication date :

    2004


    Size :

    12 Seiten, 11 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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