Research on Navigation Technology of Small UAV Based on MEMS Sensor

CaiZhen Yu; Pinghui Wang; Song Han; Siliang Bai

10.1109/IMASBD57215.2022.00016

2022

978-1-6654-5483-4

2022 International Conference on Intelligent Manufacturing, Advanced Sensing and Big Data (IMASBD)

57-63

22-24 July 2022

Guilin, China

This paper addresses attitude and heading estimation for small UAVs(Unmanned aerial vehicle) using low-cost MEMS (Micro-Electro-Mechanical System) AHRS(Attitude Heading Reference System). It compares Kalman filter and Complementary filter method used for attitude estimation by utilizing MEMS sensors, and uses ellipsoidal fitting calibration and magnetic heading angle calibration method of18 points with 17 parameters to conduct secondary calibration of the magnetic heading angle. In this paper, the overall design of the navigation system of small UAV and the prototype of the navigation system are developed and experimented. The experiment shows that the attitude angle error of the navigation system is less than 0.4°, and the heading angle error is less than 2°.

Unmanned aerial vehicle Kalman filter Complementary filter Ellipsoidal fitting calibration Magnetic heading angle calibration

第一

IEEE

School of Innovation and Entrepreneurship, Southern University of Science and Technology, Shenzhen, China

CaiZhen Yu,Pinghui Wang,Song Han,et al. Research on Navigation Technology of Small UAV Based on MEMS Sensor[C],2022:57-63.