This paper presents an innovative integrated navigation unit developed for small unmanned aircraft systems, i.e. drones. It exploits an original redundant configuration of "consumer grade" Micro Electro-Mechanical Sensors to generate measurements that are compliant with specifications for drone navigation, both in terms of accuracy and integrity. To this aim, six boards equipped with inertial sensors are arranged in a cube containing triaxial gyros, accelerometers and magnetometers. This way, single sensor biases are preliminarily compensated by mutual calibration thanks to an average operation for quantities of each axis. To assess the performance of the proposed solution, the paper presents and discusses also the preliminary results obtained during an actual navigation test session.
Redundant configuration of low-cost inertial sensors for advanced navigation of small unmanned aerial systems / De Alteriis, G.; Accardo, D.; Schiano Lo Moriello, R.; Ruggiero, R.; Angrisani, L.. - (2019), pp. 672-676. (Intervento presentato al convegno 5th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2019 tenutosi a ita nel 2019) [10.1109/MetroAeroSpace.2019.8869592].
Redundant configuration of low-cost inertial sensors for advanced navigation of small unmanned aerial systems
De Alteriis G.Software
;Accardo D.
Investigation
;Schiano Lo Moriello R.Methodology
;Angrisani L.Project Administration
2019
Abstract
This paper presents an innovative integrated navigation unit developed for small unmanned aircraft systems, i.e. drones. It exploits an original redundant configuration of "consumer grade" Micro Electro-Mechanical Sensors to generate measurements that are compliant with specifications for drone navigation, both in terms of accuracy and integrity. To this aim, six boards equipped with inertial sensors are arranged in a cube containing triaxial gyros, accelerometers and magnetometers. This way, single sensor biases are preliminarily compensated by mutual calibration thanks to an average operation for quantities of each axis. To assess the performance of the proposed solution, the paper presents and discusses also the preliminary results obtained during an actual navigation test session.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
