INS/GPS Fusion for Navigation of Unmanned Aerial Vehicles

Sanketh , Ailneni and Sudesh, K Kashyap and Shantha Kumar, N (2013) INS/GPS Fusion for Navigation of Unmanned Aerial Vehicles. In: 9th International Conference on Intelligent Unmanned Systems, 25-27 September 2013, Jaipur.

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Abstract

This paper presents fusion of inertial navigation system (INS) and global positioning system (GPS) for estimating position, velocities, attitude and heading of an unmanned aerial vehicle (UAV). A 15 state extended Kalman filter (EKF) and a split architecture consisting of 6 state non-linear complementary filter (NCF) and 9 state EKF are investigated in detail. In both these fusion architectures GPS and IMU consisting of 3 axis accelerometers, 3 axis rate gyros and 3 axis magnetometer have been fused in open loop fashion (loosely coupled) to estimate the navigation states. These architectures have been implemented in MATLAB/SIMULINK environment and evaluated in closed loop guidance of MAV with Software-In-Loop-Simulation (SILS) setup. Furthermore, the 15-state EKF algorithm is validated with flight test data obtained from onboard data logger using an off-the shelf autopilot board (Ardupilot Mega APM-2.5) for UAV.

Item Type: Conference or Workshop Item (Paper)
Subjects: AERONAUTICS > Aeronautics (General)
Depositing User: Dr Sudesh Kumar Kashyap
Date Deposited: 14 Nov 2013 08:19
Last Modified: 05 May 2016 04:25
URI: http://nal-ir.nal.res.in/id/eprint/11845

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