1P1-H02 Development of an attitude measuring method combined with GPS-Gyro/IMU for a small Unmanned Aerial Vehicle(Localization and Mapping (2))

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  • 1P1-H02 小型UAVにおけるGPSジャイロ/IMU複合を用いた姿勢計測手法の構築(移動ロボットの自己位置推定と地図構築(2))

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This paper describes about the attitude measuring method for a small unmanned aerial vehicle (UAV) using GPS-gyro combined with inertial measurement unit (IMU) by EKF. A small UAV attracts people's attention as the effective means for collecting aerial information. However the conventional attitude measuring methods have some issues, which cannot measure the attitude angle everywhere easily and absolutely against the earth. GPS observables are interpolated with cubic spline to do time synchronization among three GPS receivers (Master, Slave1, and Slave2). Using the attitude angle estimated by EKF, the correct solution is searched from among the candidates of integer ambiguity every epoch. The result of a field experiment shows the proposed method is effective to estimate attitude for the small UAV.

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