Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017) |
| Publisher | The Institute of Navigation |
| Publication date | 2017 |
| Pages | 2587-2602 |
| DOIs | |
| Publication status | Published - 2017 |
| Event | 30th International Technical Meeting of The Satellite Division of the Institute of Navigation - Portland, United States Duration: 25 Sep 2017 → 29 Sep 2017 |
Conference
| Conference | 30th International Technical Meeting of The Satellite Division of the Institute of Navigation |
|---|---|
| Country | United States |
| City | Portland |
| Period | 25/09/2017 → 29/09/2017 |
Cite this
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Ultra-Tightly Coupled GNSS/INS for small UAVs. / Olesen, Daniel; Jakobsen, Jakob; Knudsen, Per.
Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017). The Institute of Navigation, 2017. p. 2587-2602.Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
TY - GEN
T1 - Ultra-Tightly Coupled GNSS/INS for small UAVs
AU - Olesen, Daniel
AU - Jakobsen, Jakob
AU - Knudsen, Per
PY - 2017
Y1 - 2017
N2 - This paper describes an ultra-tight integration of a Global Navigation Satellite System ( GNSS) receiver and an Inertial Navigation System ( INS) for small Unmanned Aerial Vehicles ( UAVs). The system is based on a low-cost and low-weight GNSS Intermediate Frequency ( IF) sampler which has been fitted onto a small UAV. The storage of IF samples together with measurements from an Inertial Measurement Unit ( IMU) has allowed the authors to process an Ultra-Tightly Coupled ( U.T.C.) GNSS/INS solution from real data collected with a small UAV. The focus of this paper has been to investigate the potential benefits in signal tracking during flights below dense foliage and tree canopies by using the developed U.T.C. system. The obtained results have been compared to a scalar GNSS receiver and a high-grade commercial reference receiver and have showed significant improvements in tracking capabilities.
AB - This paper describes an ultra-tight integration of a Global Navigation Satellite System ( GNSS) receiver and an Inertial Navigation System ( INS) for small Unmanned Aerial Vehicles ( UAVs). The system is based on a low-cost and low-weight GNSS Intermediate Frequency ( IF) sampler which has been fitted onto a small UAV. The storage of IF samples together with measurements from an Inertial Measurement Unit ( IMU) has allowed the authors to process an Ultra-Tightly Coupled ( U.T.C.) GNSS/INS solution from real data collected with a small UAV. The focus of this paper has been to investigate the potential benefits in signal tracking during flights below dense foliage and tree canopies by using the developed U.T.C. system. The obtained results have been compared to a scalar GNSS receiver and a high-grade commercial reference receiver and have showed significant improvements in tracking capabilities.
U2 - 10.33012/2017.15282
DO - 10.33012/2017.15282
M3 - Article in proceedings
SP - 2587
EP - 2602
BT - Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
PB - The Institute of Navigation
ER -