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- W1578502100 abstract "An inertial navigation system leveraging Kalmanestimation techniques and quaternion dynamics is developed fordeployment to a micro-scale unmanned aerial vehicle (UAV). Thecapabilities, limitations, and requirements of existing navigationsolutions motivate the need for an integrated solution that can bereadily applied to small embedded systems and still providereasonably accurate results. Methods to calibrate and compensatesystemic inaccuracies in microelectromechanical systems (MEMS)sensors, commonly used in micro-scale UAV applications, are alsodeveloped. The problems associated with attitude determination andsystem localization are analyzed in isolation with incrementalsimulation and field testing. Performance is evaluated againstcommercially available inertial navigation system solutions. Theresult is a capable navigation system that, by its structure,trades a small measure of accuracy in order to be easily adapted tothe embedded computing constraints of unmanned vehicles in themicro-scale." @default.
- W1578502100 created "2016-06-24" @default.
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- W1578502100 date "2013-01-01" @default.
- W1578502100 modified "2023-09-23" @default.
- W1578502100 title "Embedded avionics with Kalman state estimation for a novel micro-scale unmanned aerial vehicle" @default.
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- W1578502100 hasPublicationYear "2013" @default.
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