Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment

المؤلفون المشاركون

Shen, Chong
Liu, Jun
Jun, Tang
Bai, Zesen
Cao, Huiliang
Xu, Ke
Wang, Chenguang
Zhang, Huaiyu
Wang, Ding

المصدر

Journal of Sensors

العدد

المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-10، 10ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2016-02-16

دولة النشر

مصر

عدد الصفحات

10

التخصصات الرئيسية

هندسة مدنية

الملخص EN

The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV).

To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper.

The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV.

The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating.

The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Shen, Chong& Bai, Zesen& Cao, Huiliang& Xu, Ke& Wang, Chenguang& Zhang, Huaiyu…[et al.]. 2016. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110537

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Shen, Chong…[et al.]. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1110537

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Shen, Chong& Bai, Zesen& Cao, Huiliang& Xu, Ke& Wang, Chenguang& Zhang, Huaiyu…[et al.]. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110537

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1110537