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2022•Unpublished venueRequires access

Research on Navigation Technology of Small UAV Based on MEMS Sensor

CaiZhen Yu, Pinghui Wang, Song Han, Siliang Bai

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Abstract

This paper addresses attitude and heading estimation for small UAVs(Unmanned aerial vehicle) using low-cost MEMS (Micro-Electro-Mechanical System) AHRS(Attitude Heading Reference System). It compares Kalman filter and Complementary filter method used for attitude estimation by utilizing MEMS sensors, and uses ellipsoidal fitting calibration and magnetic heading angle calibration method of18 points with 17 parameters to conduct secondary calibration of the magnetic heading angle. In this paper, the overall design of the navigation system of small UAV and the prototype of the navigation system are developed and experimented. The experiment shows that the attitude angle error of the navigation system is less than 0.4°, and the heading angle error is less than 2°.

About this research paper

What this paper is about

This paper addresses attitude and heading estimation for small UAVs(Unmanned aerial vehicle) using low-cost MEMS (Micro-Electro-Mechanical System) AHRS(Attitude Heading Reference System). It compares Kalman filter and Complementary filter method used for attitude estimation by utilizing MEMS sensors, and uses ellipsoidal fitting calibration and magnetic heading angle calibration method of18 points with 17 parameters to conduct secondary calibration of the magnetic heading angle. In this paper, the overall design of the navigation system of small UAV and the prototype of the navigation system are developed and experimented. The experiment shows that the attitude angle error of the navigation system is less than 0.4°, and the heading angle error is less than 2°.

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Available abstract

This paper addresses attitude and heading estimation for small UAVs(Unmanned aerial vehicle) using low-cost MEMS (Micro-Electro-Mechanical System) AHRS(Attitude Heading Reference System). It compares Kalman filter and Complementary filter method used for attitude estimation by utilizing MEMS sensors, and uses ellipsoidal fitting calibration and magnetic heading angle calibration method of18 points with 17 parameters to conduct secondary calibration of the magnetic heading angle. In this paper, the overall design of the navigation system of small UAV and the prototype of the navigation system are developed and experimented. The experiment shows that the attitude angle error of the navigation system is less than 0.4°, and the heading angle error is less than 2°.

Key concepts: Heading (navigation), Attitude and heading reference system, Kalman filter, Calibration, Navigation system, Computer science, Extended Kalman filter, Microelectromechanical systems

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