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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20030526-28; St.Petersburg(RU) >PERFORMANCE EVALUATION OF DIFFERENT SENSOR CONFIGURATIONS FOR AUTONOMOUS NAVIGATION OF UNMANNED AERIAL VEHICLES
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PERFORMANCE EVALUATION OF DIFFERENT SENSOR CONFIGURATIONS FOR AUTONOMOUS NAVIGATION OF UNMANNED AERIAL VEHICLES

机译：无人驾驶汽车自主航行的不同传感器配置的性能评估

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摘要

This paper presents a study on performance and accuracy that can be achieved using different sensor configurations for real-time flight status determination of mini Unmanned Aerial Vehicles. Since the weight of the navigation systems is a considerable percentage of the total aircraft weight for these vehicles, sensor selection, installation and reliability must be adequately investigated to allow for mission requirement satisfaction. In the mainframe of an autonomous navigation project under development, two types of menial units have been acquired to be installed onboard a mini Unmanned Aerial Vehicle. The first one adopts silicon vibrating gyros whereas the second one is more accurate but heavier because it has installed fiber optic gyros. A specific performance function has been developed considering both navigation accuracy and aircraft performance. An error budget analysis has been carried out to evaluate navigation accuracy considering Kalman filtering application for sensor aiding. Subsequently, an originally developed performance function has been adopted to evaluate different configurations for the flight model of the University of Naples.
机译：本文提出了对性能和精度的研究，该研究可以通过使用不同的传感器配置实时确定微型无人机的飞行状态。由于导航系统的重量占这些车辆的飞机总重量的相当大的百分比，因此必须充分研究传感器的选择，安装和可靠性，以使任务要求得到满足。在正在开发的自主导航项目的大型机中，已经购买了两种类型的导航单元，以安装在微型无人机上。第一个采用硅振动陀螺仪，而第二个更精确但较重，因为它已安装了光纤陀螺仪。考虑到导航精度和飞机性能，已经开发了特定的性能功能。考虑到卡尔曼滤波在传感器辅助中的应用，已经进行了误差预算分析以评估导航精度。随后，采用了最初开发的性能函数来评估那不勒斯大学飞行模型的不同配置。

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