Comparison of MEMS-Based and FOG-Based IMUs to Determine Sensor Pose on an Unmanned Aircraft System

被引:11
|
作者
Gautam, Deepak [1 ]
Lucieer, Arko [1 ]
Malenovsky, Zbynek [2 ]
Watson, Christopher [1 ]
机构
[1] Univ Tasmania, Sch Land & Food, Hobart, Tas 7001, Australia
[2] NASA, Goddard Space Flight Ctr, Biospher Sci Lab, Greenbelt, MD 20771 USA
基金
澳大利亚研究理事会;
关键词
Unmanned aircraft systems (UAS); Fiberoptic gyroscope (FOG); Microelectromechanical systems (MEMS); Inertial measurement units (IMUs); Global navigation satellite system (GNSS); Accuracy; Pose; STATE CHLOROPHYLL FLUORESCENCE; VEHICLE UAV IMAGERY; AERIAL VEHICLES; POINT CLOUDS; VEGETATION; PHOTOSYNTHESIS; RESOLUTION; RETRIEVAL; ACCURACY; STRESS;
D O I
10.1061/(ASCE)SU.1943-5428.0000225
中图分类号
TU [建筑科学];
学科分类号
0813 ;
摘要
Small-sized unmanned aircraft systems (UAS) are restricted to use only lightweight microelectromechanical systems (MEMS)-based inertial measurement units (IMUs) due to their limited payload capacity. Still, some UAS-based geospatial remote sensing applications, such as airborne spectroscopy or laser scanning, require high accuracy pose (position and orientation) determination of the onboard sensor payload. This study presents ground-based experiments investigating the pose accuracy of two MEMS-based IMUs: the single-antennaMTi-G-700 (Xsens, Enschede, Netherlands) and the dual-antenna/dual-frequency Spatial Dual IMU (Advanced Navigation, Sydney, Australia)/global navigation satellite system(GNSS). A tightly coupled and postprocessed pose solution from a fiberoptic gyroscope (FOG)-based NovAtel synchronized position attitude navigation (SPAN) IMU (NovAtel, Calgary, Canada) served as a reference to evaluate the performance of the two IMUs under investigation. Results revealed a better position solution for the Spatial Dual, and the MTi-G-700 achieved a better roll/pitch accuracy. Most importantly, the heading solution from the dual-antenna configuration of the Spatial Dual was found to be more stable than the heading obtained with the reference SPAN IMU. (C) 2017 American Society of Civil Engineers.
引用
收藏
页数:11
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