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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20040524-26; Saint Petersburg(RU) >VISUAL AIDED LOW-COST GPS/INS INTEGRATION FOR AUTONOMOUS MAV NAVIGATION
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VISUAL AIDED LOW-COST GPS/INS INTEGRATION FOR AUTONOMOUS MAV NAVIGATION

机译：可视化低成本GPS / INS集成，实现自主导航

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摘要

Today, Micro Aerial Vehicles are primarily used in order to provide real-time images from the surrounding area. But to carry out more sophisticated missions a robust slate determination of the aircraft is necessary. Here the attitude is of primary importance. In this paper satellite and inertial navigation will be tightly-coupled with a Kalman Filter using satellite ranges. It will be quantitatively shown how the inertial sensor noise level and the lever arm from the inertial sensors to the GPS antenna influence the position, velocity and attitude errors. This study ends up with the problem to stabilize the filter despite short lever arm and high inertial sensor noise ,level. For this a horizon sensor is used so that the Kalman filter becomes observable and hence more robust. The visual aiding significantly improves the navigation performance. The results presented are based on simulation and real flight data.
机译：如今，微型飞行器主要用于提供周围区域的实时图像。但是要执行更复杂的任务，有必要对飞机进行可靠的确定。在这里，态度至关重要。在本文中，卫星和惯性导航将与使用卫星范围的卡尔曼滤波器紧密耦合。将定量显示惯性传感器的噪声水平以及从惯性传感器到GPS天线的杠杆臂如何影响位置，速度和姿态误差。尽管杠杆臂短且惯性传感器的噪声水平高，但该研究最终遇到了使滤波器稳定的问题。为此，使用水平传感器，使得卡尔曼滤波器变得可观察并因此更坚固。视觉辅助大大改善了导航性能。给出的结果基于模拟和真实飞行数据。

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