Destabilizing Effects of Gravity Aiding and GPS Measurement Delays for Unmanned Aerial Vehicles

机译：重力辅助和GPS测量延迟对无人机的稳定作用

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This paper discusses the design of INS/GPS navigation systems based on low-cost inertial sensors and single GPS receiver units. In particular, the destabilizing effects of gravity aiding for attitude drift compensation as well as the influence of GPS measurement delays are analyzed. Simulation data as well as true flight data from an unmanned helicopter and an unmanned fixed-wing aircraft are used to quantify the destabilizing effects in terms of loss of gain and phase shift.

机译：本文讨论了基于低成本惯性传感器和单个GPS接收器单元的INS / GPS导航系统的设计。特别是，分析了重力对姿态漂移补偿的不稳定作用以及GPS测量延迟的影响。来自无人直升机和无人固定翼飞机的仿真数据以及真实飞行数据用于量化增益损失和相移方面的不稳定影响。

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来源
《Saint Petersburg International Conference on Integrated Navigation Systems; 20030526-28; St.Petersburg(RU)》|2003年|P.71-80|共10页
会议地点 St.Petersburg(RU)
作者
Christoph Eck; Markus Kottmann; Hans P. Geering;
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作者单位

Measurement and Control Laboratory Swiss Federal Insitute of Technology (ETH) ETH-Zentrum, CH-8092 Zurich, Switzerland;

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会议组织
原文格式 PDF
正文语种 eng
中图分类导航设备;
关键词
inertial navigation; INS/GPS navigation analysis; gravity aiding; GPS measurement delay; extended kalman filter; unmanned aerial vehicles;

机译：惯性导航; INS / GPS导航分析;重力辅助; GPS测量延迟;扩展卡尔曼滤波;无人机;

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专利

1. A non-linear observer for attitude estimation of a fixed-wing unmanned aerial vehicle without GPS measurements [J] . R. Mahony, M. Euston, Jonghyuk Kim, Transactions of the Institute of Measurement and Control . 2011,第6期

机译：用于不带GPS测量的固定翼无人机的姿态估计的非线性观测器
2. GPS/SINS Navigation Method of Unmanned Aerial Vehicles Based on Vision Aids [J] . ZHOU JIANMING WSEAS Transactions on Information Science and Applications . 2016,第Null期

机译：基于视觉辅助的无人机GPS / SINS导航方法
3. Vision-Aided Inertial Navigation for Small Unmanned Aerial Vehicles in GPS-Denied Environments [J] . Tianmiao Wang, Chaolei Wang, Jianhong Liang, International Journal of Advanced Robotic Systems . 2013,第6期

机译：GPS拒绝环境下的小型无人机视觉辅助惯性导航
4. Destabilizing Effects of Gravity Aiding and GPS Measurement Delays for Unmanned Aerial Vehicles [C] . Christoph Eck, Markus Kottmann, Hans P. Geering Saint Petersburg International Conference on Integrated Navigation Systems . 2003

机译：无人驾驶中的重力辅助和GPS测量延误的破坏稳定性
5. Unmanned Aerial Vehicle Tracking System with Out-Of-Sequence Measurement in a Discrete Time-Delayed Extended Kalman Filter. [D] . Lora, Roque. 2017

机译：离散时延扩展卡尔曼滤波器中无序测量的无人机跟踪系统。
6. Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles [O] . Rodrigo Munguia, Sarquis Urzua, Antoni Grau 2011

机译：延迟单目SLAM方法应用于无人机
7. Vision-Aided Inertial Navigation for Small Unmanned Aerial Vehicles in GPS-Denied Environments [O] . Tianmiao Wang, Chaolei Wang, Jianhong Liang, 2013

机译：Gps拒绝环境中小型无人机的视觉辅助惯性导航
8. Intent of Study on the Use of a Dual Airborne Laser Scanner (ALS) in Conjunction with a Tactical Grade Inertial Measurement Unit (IMU) for Unmanned Aerial Vehicle (UAV) Navigation and Mapping in Unknown, Non-Global Positioning System (GPS), Environments [R] . Vadlamani, A. K. , Haag, M. U. , Graas, F. , 2006

机译：研究使用双机载激光扫描仪（aLs）与战术等级惯性测量单元（ImU）结合用于无人驾驶飞行器（UaV）导航和测绘未知，非全球定位系统（Gps），环境

Destabilizing Effects of Gravity Aiding and GPS Measurement Delays for Unmanned Aerial Vehicles

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