A New Approach for Single Antenna INS Alignment in Multirotors Allows Aaster Time-to-Application

• DOI: 10.33012/2022.18310
• Publication Date: 2022-10-20T19:25:52Z
• Authors: Payam Nazemzadeh; Marnix Volckaert; Chanjuan Zhang; Kristof Smolders; Bruno Bougard
• Keywords: GNSS augmentation; Sensor Fusion

GNSS/INS integration systems are increasingly used in the navigation of Unmanned Aerial Vehicles. To decrease size and weight, single antenna GNSS is usually favorable many UAV applications. reach optimal accuracy, system should be initialized properly. However, a cannot directly measure initial heading UAV, without additional sensors such as magnetometer or gyrocompass. Course over ground computation also not feasible for vehicles like multirotors where direction motion aligned to vehicle body axis. This paper proposes new real-time approach attitude estimation multirotor using single-antenna MEMS IMU. An array strapdown navigators with random headings spread environment after short period sufficient motion, best-fit navigator determined its states initialize fusion filter. provides accurate angles few tens seconds, which important due limited operational time small UAVs. In addition, proposed does require complicated process performed by user at start-up, i.e., any dynamic during alignment phase proper accuracy. Since this purely algorithmic approach, it sensor.