Inertial Navigation System of Quadrotor Based on IMU and GPS Sensors

Abstract

Inertial navigation systems is used to determine the attitude estimation and bearing navigation of a quadrotor. The design implemented in this research uses IMU (Inertial Measurement Unit) and GPS (Global Positioning System) sensor. The attitude estimates are obtained from a complementary filter by combining the measurements from the IMU sensor. Bearing navigation can determine the quadrotor's rotation by calculating the the difference between the actual value of the quadrotor and the given setpoint Longitude-Latitude value. By this research, the average error of GPS sensor is 3,86 m, average error of compass is 3, 4°, average error of attitude estimation is roll: 23,63 °pitch: 16,67°, and yaw: 14,88°. bearing angle and yaw rotation direction calculations performed by the system are correct.