TY  - JOUR
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Coupled GPS/MEMS IMU Attitude Determination of Small UAVs with COTS
T2  - 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
UR  - https://opus.bibliothek.uni-wuerzburg.de/opus4-wuerzburg/frontdoor/index/index/docId/17117
UR  - https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-171179
VL  - 6
IS  - 1
ER  -