Development of UAV navigation system based on unscented Kalman filter

Seung Min Oh, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

This paper describes the detailed development and implementation of a low-cost strapdown inertial navigation system and its application to the navigation of an Unmanned Aerial Vehicle (UAV). The navigation system fuses various sources of information from low-cost sensor suites such as an Inertial Measurement Unit (IMU), a Global Positioning System (GPS), and a three-axis magnetometer in the framework of an Unscented Kalman Filter (UKF). In particular, sensor measurements are taken at various rates and states are updated based on the availability of these measurements. The performance and error analysis of the overall integrated navigation system are assessed in a realistic simulation environment by comparing performance with that of an existing Extended Kalman Filter-based navigation system.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages2601-2621
Number of pages21
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - Jan 1 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume4

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

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All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Oh, S. M., & Johnson, E. N. (2006). Development of UAV navigation system based on unscented Kalman filter. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 2601-2621). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 4). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6351