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http://dx.doi.org/10.5302/J.ICROS.2005.11.7.633

Design of a Low-Cost Attitude Determination GPS/INS Integrated Navigation System for a UAV (Unmanned Aerial Vehicle)  

Oh Sang Heon (㈜네비콤)
Lee Sang Jeong (충남대학교 전기정보통신공학부)
Park Chansik (충북대학교 전기전자공학부)
Hwang Dong-Hwan (충남대학교 전기정보통신공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.7, 2005 , pp. 633-643 More about this Journal
Abstract
An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.
Keywords
INS; attitude determination CPS receiver; MEMS IMU; FDI; UAV;
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