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Dynamic Attitude Estimation Improvement for Low-cost MEMS IMU by Integrating Low-cost GPS

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Document pages: 9 pages

Abstract: This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigationsystem for small aerial robots based on the integration of Global PositionSystem (GPS) receiver with sensors of inertional Microelectromechanical Systems(MEMS). In the problem of fusing Inertial Measurement Unit (IMU) with low-costGPS, the effect of time synchronization error on attitude estimation isconcerned. A fusion algorithm which can estimate the motion states and the timesynchronization error simultaneously is proposed. This algorithm adds a timeestimation loop to improve estimation accuracy. Compared with another statesaugmented estimation approach, this method has the advantages of lowercomputation burden, avoidance of the discretization error in the low samplerate. The estimation algorithm is implemented in an low-cost embeddedmicroprocessor where the update rate of algorithm can achieve more than 100 Hz,and therefore high-performance computational units are not necessary. Inrobotic experiment, the proposed algorithm serves as the navigation solutionfor a small aerial robot. The accuracy and reliability of the self-designedsystem are tested when the robot is moving with significant acceleration.

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