TY  - JOUR
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Coupled GPS/MEMS IMU Attitude Determination of Small UAVs with COTS
JF  - Electronics
N2  - This paper proposes an attitude determination system for small Unmanned Aerial Vehicles (UAV) with a weight limit of 5 kg and a small footprint of 0.5m x 0.5 m. The system is realized by coupling single-frequency Global Positioning System (GPS) code and carrier-phase measurements with the data acquired from a Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) using consumer-grade Components-Off-The-Shelf (COTS) only. The sensor fusion is accomplished using two Extended Kalman Filters (EKF) that are coupled by exchanging information about the currently estimated baseline. With a baseline of 48 cm, the static heading accuracy of the proposed system is comparable to the one of a commercial single-frequency GPS heading system with an accuracy of approximately 0.25°/m. Flight testing shows that the proposed system is able to obtain a reliable and stable GPS heading estimation without an aiding magnetometer.
KW  - Attitude Heading Reference System (AHRS)
KW  - magnetometer
KW  - MEMS IMU
KW  - Real-time Kinematics (RTK)
KW  - GPS
KW  - UAV
KW  - attitude determination
Y1  - 2017
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-171179
VL  - 6
IS  - 1
ER  - 
TY  - JOUR
A1  - Strohmeier, Michael
A1  - Walter, Thomas
A1  - Rothe, Julian
A1  - Montenegro, Sergio
T1  - Ultra-wideband based pose estimation for small unmanned aerial vehicles
JF  - IEEE Access
N2  - This paper proposes a 3-D local pose estimation system for a small Unmanned Aerial Vehicle (UAV) with a weight limit of 200 g and a very small footprint of 10 cm×10cm. The system is realized by fusing 3-D position estimations from an Ultra-Wide Band (UWB) transceiver network with Inertial Measurement Unit (IMU) sensor data and data from a barometric pressure sensor. The 3-D position from the UWB network is estimated using Multi-Dimensional Scaling (MDS) and range measurements between the transceivers. The range measurements are obtained using Double-Sided Two-Way Ranging (DS-TWR), thus eliminating the need for an additional clock synchronization mechanism. The sensor fusion is accomplished using a loosely coupled Extended Kalman Filter (EKF) architecture. Extensive evaluation of the proposed system shows that a position accuracy with a Root-Mean-Square Error (RMSE) of 0.20cm can be obtained. The orientation angle can be estimated with an RMSE of 1.93°.
KW  - UAV
KW  - navigation
KW  - pose estimation
KW  - distance measurement
KW  - DecaWave
KW  - extended Kalman filter
KW  - UWB
Y1  - 2018
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-177503
VL  - 6
ER  -