Integration of a Triaxial Magnetometer into a Helicopter UAV GPS-Aided INS

The University of Alberta's Applied Nonlinear Controls Lab (ANCL) helicopter unmanned aerial vehicle's (UAV's) existing GPS-aided inertial navigation system (INS) does not provide observability of heading angle during hover. This motivates the integration of a triaxial magnetometer ai...

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Bibliographic Details
Published inIEEE transactions on aerospace and electronic systems Vol. 48; no. 4; pp. 2947 - 2960
Main Authors Barczyk, M., Lynch, A. F.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2012
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Alberta
Algorithms
Calibration
Extended Kalman filter
Global Positioning System
Grounds
Helicopters
Magnetic field measurement
Magnetometers
Navigation
Nonlinearity
Unmanned aerial vehicles
Vehicles
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Summary:The University of Alberta's Applied Nonlinear Controls Lab (ANCL) helicopter unmanned aerial vehicle's (UAV's) existing GPS-aided inertial navigation system (INS) does not provide observability of heading angle during hover. This motivates the integration of a triaxial magnetometer aiding sensor into the extended Kalman filter (EKF)-based navigation algorithm. A novel magnetometer calibration procedure is implemented and compared with conventional approaches. Experimental results in ground and flight testing confirm that the observability issue is resolved and demonstrate improvements in attitude estimation.
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ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2012.6324671