An Augmented Strapdown Inertial Navigation System using Jerk and Jounce of Motion for a Flying Robot

Milad Bayat, MA Amiri Atashgah
  • Journal of Navigation, March 2017, Cambridge University Press
  • DOI: 10.1017/s0373463317000017

An Augmented Strapdown Inertial Navigation System using Jerk and Jounce of Motion for a Flying Robot

What is it about?

Augmented Strapdown Inertial Navigation System using Jerk and Jounce of Motion

Why is it important?

Performance Improvement of INS/GPS integration

Perspectives

MA Amiri Atashgah (Author)

This paper offers an algorithm for enhancement of positioning accuracy of a quad-rotor flying robot, based on jerk and jounce of motion. The suggested method utilises the first and second numerical derivatives of the vehicle's acceleration and augments the mathematical model in the estimation process. For this purpose, the Kalman Filter (KF) is implemented for integration of a Strapdown Inertial Navigation System (SINS) and Global Navigation Satellite System (GNSS). The required data are collected from a low-cost/quality Micro Electromechanical Sensors (MEMS) during an assisted flight. For increasing the precision and accuracy of the collected data, all instruments including accelerometers, gyroscopes and magnetometers are calibrated before the experiments. Moreover, to reduce and limit the measurement noises of the MEMS sensor, a low-pass filter is applied; this is while sensors in the autopilot are affected by high levels of noise and drift, which makes them inappropriate for accurate positioning. The experimental results exhibit an improvement in positioning and altitude sensing through augmentation of the loosely coupled SINS/GNSS navigation method.

The following have contributed to this page: MA Amiri Atashgah

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