GPS/INS Performance Enhancement for UAVs

无人机 GPS/INS 性能增强

• 批准号: 508319-2017
• 负责人: Forbes, James
• 金额: $ 1.82万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=639575
• 关键词: GPS; INS; Performance; Enhancement; UAVs

This NSERC Engage sponsored project focuses on advancing the current state-of-the-art in the field ofunmanned arial vehicle (UAV) position and attitude estimation through research and development of newtechniques to increase the reliability and fidelity of GPS/INS navigation methodologies. GPS/INS navigationinvolves the fusion of inertial navigation measurements, such as those from a rate gyro, and GPS measurementsin order to generate a UAV position and attitude estimate. This position and attitude estimate is critical forcontrol of the UAV. The purpose of this NSERC Engage is to develop a tightly -coupled GPS/INS navigationsystem, a sliding window filter, and a real-time kinematic estimation method to better estimate the position andattitude of a UAV. In conjunction with ARA Robotique, the proposed algorithms will be implemented andexperimentally tested on ARA Robotique UAVs.

该 NSERC Engage 赞助项目的重点是通过研究和开发新技术来提高无人机 (UAV) 位置和姿态估计领域的最新技术，以提高 GPS/INS 导航方法的可靠性和保真度。 GPS/INS 导航涉及惯性导航测量（例如来自速率陀螺仪的​​测量）和 GPS 测量的融合，以生成无人机位置和姿态估计。这种位置和姿态估计对于无人机的控制至关重要。本次 NSERC Engage 的目的是开发紧密耦合的 GPS/INS 导航系统、滑动窗口滤波器和实时运动估计方法，以更好地估计无人机的位置和姿态。与 ARA Robotique 合作，所提出的算法将在 ARA Robotique 无人机上实施和实验测试。