An experimental validation of magnetometer integration into a GPS-aided helicopter UAV navigation system

摘要

This paper considers the integration of a triaxial magnetometer sensor into an existing navigation system for a helicopter Unmanned Aerial Vehicle (UAV). An existing inertial navigation system uses triaxial accelerometer and rate gyro measurements and is aided by GPS. A novel calibration method for the magnetometer is implemented. The integration of the calibrated magnetometer into the existing design is experimentally shown to improve navigation filter accuracy.