TY - GEN
T1 - A Computationally Efficient GNSS/INS Design of Multirotor based on Error-state Kalman Filter
AU - Cheng, Sheng Wen
AU - Huang, Yi Hsiang
N1 - Publisher Copyright:
© 2023 Society of Instrument and Control Engineers - SICE.
PY - 2023
Y1 - 2023
N2 - This paper presents a GNSS/INS based on an error-state Kalman filter (ESKF) to combine the global navigation satellite system (GNSS) and inertial navigation system (INS) for multirotors. The onboard sensors consist of an inertial measurement unit (IMU), a magnetometer, a GNSS receiver, and a rangefinder. The proposed system can estimate the position, velocity, quaternion, and IMU bias, where the INS design significantly improves the positioning update rate of the GNSS. In addition, to execute the algorithm on flight computers with restricted computational resources, a code generator is developed to utilize the sparse and symmetric structure of the ESKF, which can produce high-efficient C code to speed up the computation time.
AB - This paper presents a GNSS/INS based on an error-state Kalman filter (ESKF) to combine the global navigation satellite system (GNSS) and inertial navigation system (INS) for multirotors. The onboard sensors consist of an inertial measurement unit (IMU), a magnetometer, a GNSS receiver, and a rangefinder. The proposed system can estimate the position, velocity, quaternion, and IMU bias, where the INS design significantly improves the positioning update rate of the GNSS. In addition, to execute the algorithm on flight computers with restricted computational resources, a code generator is developed to utilize the sparse and symmetric structure of the ESKF, which can produce high-efficient C code to speed up the computation time.
KW - Global Positioning System
KW - Inertial Navigation System
KW - Unmanned Aerial Vehicle
UR - http://www.scopus.com/inward/record.url?scp=85182606074&partnerID=8YFLogxK
U2 - 10.23919/SICE59929.2023.10354209
DO - 10.23919/SICE59929.2023.10354209
M3 - Conference contribution
AN - SCOPUS:85182606074
T3 - 2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
SP - 907
EP - 913
BT - 2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
Y2 - 6 September 2023 through 9 September 2023
ER -