Title :
An experimental validation of magnetometer integration into a GPS-aided helicopter UAV navigation system
Author :
Barczyk, M. ; Jost, M. ; Kastelan, D.R. ; Lynch, A.F. ; Listmann, K.D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada
fDate :
June 30 2010-July 2 2010
Abstract :
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.
Keywords :
Global Positioning System; accelerometers; helicopters; inertial navigation; magnetometers; mobile robots; GPS; helicopter; inertial navigation system; navigation filter; triaxial accelerometer; triaxial magnetometer sensor; unmanned aerial vehicle; Accelerometers; Aircraft navigation; Calibration; Global Positioning System; Helicopters; Inertial navigation; Magnetic sensors; Magnetometers; Sensor systems; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530999
