An experimental study of UAV motion sensing using GPS aided MEMS inertial sensor

Lim, Chot Hun and Lim, Tien Sze and Koo, Voon Chet (2014) An experimental study of UAV motion sensing using GPS aided MEMS inertial sensor. International Journal of Microwave and Optical Technology, 9 (1). pp. 54-58. ISSN 1553-0396

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Abstract

Due to the nature of Micro-Electro-Mechanical System (MEMS) inertial sensor, its outputs are normally being jeopardized by measurement errors. A common practice to regulate the MEMS inertial measurements into usable motion data is by fusing the Global Positioning System's (GPS) measurement with the MEMS inertial measurement through Kalman filter. Such integrated system is known as GPS aided MEMS Inertial Navigation System. Note that the robustness of such integrated system is heavily relied on the accuracy of the modelling of stochastic error of MEMS inertial sensor. In this paper, the on-board motion sensing experimental of the GPS aided MEMS Inertial Navigation System implemented on an Unmanned Aerial Vehicle (UAV) airplane is carried out. The results of two different stochastic noise models implementation, namely the Gauss-Markov (GM) Model and Autoregressive (AR) Model, are studied and compared. Results of short intervals (20 seconds) of no GPS condition are studied as well. The outcomes indicate that the stochastic noise model using AR modelling produces better estimation results than GM modelling.

Item Type: Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Nurul Iqtiani Ahmad
Date Deposited: 17 Jul 2014 08:10
Last Modified: 17 Jul 2014 08:10
URI: http://shdl.mmu.edu.my/id/eprint/5631

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