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http://dx.doi.org/10.5139/JKSAS.2012.40.11.997

Compensation of Magnetometer in the Navigation System for Unmanned Helicopter using an Electric Motor  

Lee, Gilho (인하대학교 항공우주공학과 대학원)
Jo, Sungbeom (인하대학교 항공우주공학과 대학원)
Kim, Jungsung (인하대학교 항공우주공학과 대학원)
Choi, Keeyoung (인하대학교 항공우주공학과)
Kee, Changdon (서울대학교 기계항공공학부)
Song, Yongkyu (한국항공대학교 항공기계공학과)
Koo, Wheonjoon (국방과학연구소)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.40, no.11, 2012 , pp. 997-1003 More about this Journal
Abstract
GNSS and ARS are the most common sensors in low-end UAVs. However, these sensors are vulnerable to built-in errors and cannot measure the body heading independently. The GNSS/INS cannot fully compensate the IMU errors in initial alignment process and rectilinear flights. For an unmanned helicopter, a magnetometer can be more useful than any other sensors to obtain heading information. However, the electric motor which drives small helicopter UAV keeps the magnetometer from reading the pure magnetotelluric vector. This paper shows the effects of electric motor on the magnetometer readings, and presents a method to compensate the effects. The results are verified with flight test data. The simulation and experimental results in this paper proves that aiding GNSS/INS with magnetometer increases observability and improves accuracy.
Keywords
Unmanned Helicopter; INS; Magnetometer; Electric Motor; Magnetic Field;
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  • Reference
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