Real time global positioning system aided strapdown inertial navigation unit system for unmanned aerial vehicle motion sensing

摘要

Inertial Navigation System (INS) is a type of equipment that provides dead reckoning to many operations, which involved in the field of commercial flights and fleets' navigation, military activities, unmanned aerial vehicle (UAV) and others relevant applications for position, velocity and orientation measurements. These applications employed mostly high performance INS, in which these systems are always being imposed with strict rules and regulations by most of the governments in this world. Also, the cost for obtaining a high performance INS is extremely expensive, rendering it to be impractical for implementation in civilian applications. With the recent advancement in Micro Electronic-Mechanical System (MEMS), the inertial navigation unit (INU) has become possible in strapdown configuration. A typical strapdown INU (or SINU) consists of three orthogonally aligned accelerometers and gyroscopes fixed in pre-specified positions. These MEMS type SINU possesses advantages over the high performance INU, such as low cost, small size and abundant in supply. However, the resided stochastic noises that cause the unbound measurement errors had significantly degrade the MEMS INU, rendering it to be unable to function as a standalone navigation instrument. A conventional technique in utilizing the MEMS SINU noisy data is to integrate it with the GPS motion data through Kalman filter, known as the GPS-aided SINU system.