基于mems和基于fog的imu在无人机系统传感器位姿确定中的比较

D. Gautam, A. Lucieer, Z. Malenovský, C. Watson
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引用次数: 11

摘要

小型无人机系统(UAS)由于载荷能力有限,只能使用基于微机电系统(MEMS)的轻型惯性测量单元(imu)。然而,一些基于无人机的地理空间遥感应用,如机载光谱或激光扫描,需要机载传感器有效载荷的高精度姿态(位置和方向)确定。本研究通过地面实验研究了两种基于mems的IMU的位位精度:单天线namti - g -700 (Xsens, Enschede,荷兰)和双天线/双频空间双IMU (Advanced Navigation, Sydney, Australia)/全球导航卫星系统(GNSS)。基于光纤陀螺仪(FOG)的NovAtel同步位置姿态导航(SPAN) IMU (NovAtel, Calgary, Canada)的紧密耦合和后处理姿态解决方案作为评估所研究的两个IMU性能的参考。结果表明,MTi-G-700具有更好的位置解决方案,并且实现了更好的滚转/俯仰精度。最重要的是,空间双天线结构的航向解比参考SPANIMU的航向解更稳定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system
Small-sized unmanned aircraft systems (UAS) are restricted to use only lightweight microelectromechanical systems (MEMS)- based inertial measurement units (IMUs) due to their limited payload capacity. Still, some UAS-based geospatial remote sensing applications, such as airborne spectroscopy or laser scanning, require high accuracy pose (position and orientation) determination of the onboard sensor payload. This study presents ground-based experiments investigating the pose accuracy of two MEMS-based IMUs: the single-antennaMTi-G-700 (Xsens, Enschede, Netherlands) and the dual-antenna/dual-frequency Spatial Dual IMU (Advanced Navigation, Sydney, Australia)/global navigation satellite system (GNSS).A tightly coupled and postprocessed pose solution froma fiberoptic gyroscope (FOG)-based NovAtel synchronized position attitude navigation (SPAN) IMU (NovAtel, Calgary, Canada) served as a reference to evaluate the performance of the two IMUs under investigation. Results revealed a better position solution for the Spatial Dual, and the MTi-G-700 achieved a better roll/pitch accuracy. Most importantly, the heading solution from the dual-antenna configuration of the Spatial Dual was found to be more stable than the heading obtained with the reference SPANIMU.
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