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
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页数:11
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