ArticleSensors (Basel, Switzerland)2015
Real-time single-frequency GPS/MEMS-IMU attitude determination of lightweight UAVs.
Article in Sensors (Basel, Switzerland), 2015. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 21 papers.
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Who cites it
21 citing papers in PubMed.
- Comprehensive Investigation of Unmanned Aerial Vehicles (UAVs): An In-Depth Analysis of Avionics Systems.Sensors (Basel, Switzerland) · 2024Review
- A Reasonable Alternative System for Searching UAVs in the Local Area.Sensors (Basel, Switzerland) · 2022Article
- Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm.Sensors (Basel, Switzerland) · 2021Article
- An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study.Sensors (Basel, Switzerland) · 2020Article
- Improved GNSS Localization and Byzantine Detection in UAV Swarms.Sensors (Basel, Switzerland) · 2020Article
- Position and Attitude Estimation Method Integrating Visual Odometer and GPS.Sensors (Basel, Switzerland) · 2020Article
- Determining Wheel Forces and Moments on Aircraft Landing Gear with a Dynamometer Sensor.Sensors (Basel, Switzerland) · 2019Article
- Precise and Robust RTK-GNSS Positioning in Urban Environments with Dual-Antenna Configuration.Sensors (Basel, Switzerland) · 2019Article
- Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation.Sensors (Basel, Switzerland) · 2018Article
- Design and Analysis of a High-Gain and Robust Multi-DOF Electro-thermally Actuated MEMS Gyroscope.Micromachines · 2018Article
- A MEMS IMU De-Noising Method Using Long Short Term Memory Recurrent Neural Networks (LSTM-RNN).Sensors (Basel, Switzerland) · 2018Article
- A Practical Approach for High Precision Reconstruction of a Motorcycle Trajectory Using a Low-Cost Multi-Sensor System.Sensors (Basel, Switzerland) · 2018Article
- GNSS/INS Fusion with Virtual Lever-Arm MeasurementsSensors (Basel, Switzerland) · 2018Article
- Enhanced Pedestrian Navigation Based on Course Angle Error Estimation Using Cascaded Kalman Filters.Sensors (Basel, Switzerland) · 2018Article
- A Novel Attitude Determination System Aided by Polarization Sensor.Sensors (Basel, Switzerland) · 2018Article
- Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer.Micromachines · 2017Article
- Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance.Sensors (Basel, Switzerland) · 2017Article
- Modeling and Quantitative Analysis of GNSS/INS Deep Integration Tracking Loops in High Dynamics.Micromachines · 2017Article
- INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying.Sensors (Basel, Switzerland) · 2017Article
- An Online Gravity Modeling Method Applied for High Precision Free-INS.Sensors (Basel, Switzerland) · 2016Article
Corrections and comments
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Authors and funding
3 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In this paper, a newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented. The system is intended to provide highly accurate positions and attitudes (better than 5 cm and 0.5°) in real time, using lightweight components. The main focus of this paper is on the attitude determination with the system. This attitude determination is based on an onboard single-frequency GPS baseline, MEMS (micro-electro-mechanical systems) inertial sensor readings, magnetic field observations and a 3D position measurement. All of this information is integrated in a sixteen-state error space Kalman filter. Special attention in the algorithm development is paid to the carrier phase ambiguity resolution of the single-frequency GPS baseline observations. We aim at a reliable and instantaneous ambiguity resolution, since the system is used in urban areas, where frequent losses of the GPS signal lock occur and the GPS measurement conditions are challenging. Flight tests and a comparison to a navigation-grade inertial navigation system illustrate the performance of the developed system in dynamic situations. Evaluations show that the accuracies of the system are 0.05° for the roll and the pitch angle and 0.2° for the yaw angle. The ambiguities of the single-frequency GPS baseline can be resolved instantaneously in more than 90% of the cases.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.