Integrated Navigation System for a Low-Cost Quadrotor Aerial Vehicle in the Presence of Rotor Influences
Publication: Journal of Surveying Engineering
Volume 143, Issue 1
Abstract
The performance of navigation sensors may be seriously affected by the operating rotors of a drone. To address this kind of disturbance, a low-cost multisensor integrated navigation system was developed for a quadrotor aerial vehicle (QAV). The navigation board integrates a global positioning system (GPS) module, triaxial gyroscope, accelerometer, magnetometer, and a digital barometer. The sensors’ outputs were mathematically modeled and subsequently used in the integration Kalman filter. The data processing consisted of several steps: prefiltering, centralized filtering, and feedback. On the basis of onboard tests, the stochastic models of sensors were established in the presence of vibration, revolution, and ventilation caused by the QAV rotor’s operation, and in particular, its electromagnetic and aerodynamic characteristics. Flight experiments indicate that the proposed integrated navigation system can significantly improve flight accuracy and reliability.
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Acknowledgments
This work is supported by the Key Laboratory of Precise Engineering and Industry Surveying of National Administration of Surveying, Mapping and Geoinformation (NASG; PF2015-11), Key Laboratory of Land Environment and Disaster Monitoring (LEDM2014B09).
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Published In
Journal of Surveying Engineering
Volume 143 • Issue 1 • February 2017
Copyright
© 2016 American Society of Civil Engineers.
History
Received: Jun 19, 2015
Accepted: Mar 21, 2016
Published online: May 19, 2016
Discussion open until: Oct 19, 2016
Published in print: Feb 1, 2017
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