TY - GEN
T1 - Design and implementation of a compact integrated navigation system for micro multi-propeller multifunction aerial robots
AU - Zha, Chang Liu
AU - Ding, Xi Lun
AU - Yu, Yu Shu
AU - Wang, Xue Qiang
PY - 2014
Y1 - 2014
N2 - Micro Multi-propeller Multifunction Aerial Robot (MMAR) needs a low-cost, small-size, low-power and lightweight navigation system. To meet these requirements, a compact navigation system for micro MMARs is designed and implemented. The system consists of a GPS receiver, a MEMS inertial measurement unit (IMU), a barometer, a magnetometer and a dual microprocessors navigation processing platform. According to the characteristics of the sensors used, the optimized Kalman Filter (KF) is designed to implement the navigation data fusion with less computational cost. The test results show that the system's small size, low power consumption, light weight and better dynamic accuracy can meet the requirements of micro MMAR autonomous flight.
AB - Micro Multi-propeller Multifunction Aerial Robot (MMAR) needs a low-cost, small-size, low-power and lightweight navigation system. To meet these requirements, a compact navigation system for micro MMARs is designed and implemented. The system consists of a GPS receiver, a MEMS inertial measurement unit (IMU), a barometer, a magnetometer and a dual microprocessors navigation processing platform. According to the characteristics of the sensors used, the optimized Kalman Filter (KF) is designed to implement the navigation data fusion with less computational cost. The test results show that the system's small size, low power consumption, light weight and better dynamic accuracy can meet the requirements of micro MMAR autonomous flight.
KW - Data fusion
KW - GPS/SINS
KW - Integrated navigation
KW - MMAR
UR - http://www.scopus.com/inward/record.url?scp=84902108629&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.556-562.1553
DO - 10.4028/www.scientific.net/AMM.556-562.1553
M3 - Conference contribution
AN - SCOPUS:84902108629
SN - 9783038351153
T3 - Applied Mechanics and Materials
SP - 1553
EP - 1559
BT - Mechatronics Engineering, Computing and Information Technology
PB - Trans Tech Publications
T2 - 2014 International Conference on Mechatronics Engineering and Computing Technology, ICMECT 2014
Y2 - 9 April 2014 through 10 April 2014
ER -