Inertial Navigation System of Quadrotor Based on IMU and GPS Sensors

Sumardi, H. Afrisal, Taufik Rahmadani, Wisnu Dyan Nugroho, Dhamastya Adhi Putra
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引用次数: 2

Abstract

Inertial navigation systems is used to determine the attitude estimation and bearing navigation of a quadrotor. The design implemented in this research uses IMU (Inertial Measurement Unit) and GPS (Global Positioning System) sensor. The attitude estimates are obtained from a complementary filter by combining the measurements from the IMU sensor. Bearing navigation can determine the quadrotor's rotation by calculating the the difference between the actual value of the quadrotor and the given setpoint Longitude-Latitude value. By this research, the average error of GPS sensor is 3,86 m, average error of compass is 3,4°, average error of attitude estimation is roll: 23,63°,pitch: 16,67°, and yaw: 14,88°, bearing angle and yaw rotation direction calculations performed by the system are correct.
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基于IMU和GPS传感器的四旋翼惯性导航系统
利用惯性导航系统确定四旋翼飞行器的姿态估计和方位导航。本设计采用惯性测量单元(IMU)和全球定位系统(GPS)传感器。姿态估计是由一个互补滤波器结合IMU传感器的测量得到的。轴承导航可以通过计算四旋翼的实际值与给定设定值经纬度值之间的差值来确定四旋翼的旋转。通过本研究,GPS传感器的平均误差为3.86 m,罗经的平均误差为3.4°,姿态估计的平均误差为滚转23.63°,俯仰16.67°,偏航14.88°,系统计算的方位角和偏航旋转方向正确。
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