A Computationally Efficient GNSS/INS Design of Multirotor based on Error-state Kalman Filter

Sheng Wen Cheng*, Yi Hsiang Huang

*此作品的通信作者

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
發行者Institute of Electrical and Electronics Engineers Inc.
頁面907-913
頁數7
ISBN(電子)9784907764807
DOIs
出版狀態Published - 2023
事件62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023 - Tsu, Japan
持續時間: 6 9月 20239 9月 2023

出版系列

名字2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023

Conference

Conference62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023
國家/地區Japan
城市Tsu
期間6/09/239/09/23

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