System concepts and performance analysis of multi-sensor navigation systems for UAV applications

Laurent Wenger, Demoz Gebre Egziabher

Research output: Contribution to conferencePaperpeer-review

8 Scopus citations

Abstract

This paper discusses the hardware and algorithmic details of an integrated navigation systems that fuses the information from an inexpensive Inertial Measurement Unit, a magnetometer triad and a Global Positioning System receiver. Methods for modeling sensor and system errors are presented. An observability analysis of the system shows that observability is conditional when only GPS position fixes are used to aid the inertial sensors. With the addition of a magnetometer triad, it is shown that the system becomes unconditionally observable.

Original languageEnglish (US)
StatePublished - Jan 1 2003
Event2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003 - San Diego, CA, United States
Duration: Sep 15 2003Sep 18 2003

Other

Other2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003
CountryUnited States
CitySan Diego, CA
Period9/15/039/18/03

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