Navigation system design for RUAVs based on a novel KALMAN filter
文献类型：会议论文
| 作者 | Wu C(吴冲) ; Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达); Shi ZL(史泽林)
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| 出版日期 | 2011 |
| 会议名称 | AUVSI Unmanned Systems North America Conference 2011 |
| 会议日期 | August 16-19, 2011 |
| 会议地点 | Washington, DC, United states |
| 关键词 | Accelerometers Algorithms Data fusion Extended Kalman filters Kalman filters Navigation Navigation systems Systems analysis Time delay Velocity measurement |
| 页码 | 583-590 |
| 中文摘要 | GPS/INS navigation system is necessary for realizing the accurate and autonomous control of the rotorcraft unmanned aerial vehicles (RUAVs). However, because of the intrinsic time delay of the velocity measurement from the GPS and the noisy acceleration measurement caused by the strong vibration on the RUAV, the traditional navigation system's estimation often cannot be applied for online flight controllers as feedback value on RUAVs. In this paper, a new algorithm of data fusion is proposed to eliminate the time delay of velocity and the noise of acceleration. Based on the simplified reference model of GPS/INS system, a two-step kalman filter is used to estimate the acceleration bias and fusion the INS and GPS data to obtain the accurate measurement for the body moving of the RUAVs. Based on the ServoHeli-40 RUAV platform, flight tests have been done to verify the validity of the data fusion algorithm. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | AUVSI Unmanned Systems North America Conference 2011
 |
| 会议录出版者 | Association for Unmanned Vehicle Systems International |
| 会议录出版地 | Arlington, VA |
| 语种 | 英语 |
| ISBN号 | 978-1-61839-348-7 |
| 源URL | [http://ir.sia.cn/handle/173321/8803]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wu C,Song DL,Qi JT,et al. Navigation system design for RUAVs based on a novel KALMAN filter[C]. 见:AUVSI Unmanned Systems North America Conference 2011. Washington, DC, United states. August 16-19, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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