Abstract
This paper presents a novel calibration method for micro-electro mechanical system gyroscope in attitude measurement system of small rotor unmanned aerial vehicles. This method is based on an observation vector and its cross product, which is especially valuable for the in-field calibration without the aid of external equipment. By analysing the error model of the tri-axial gyroscope, the principle of calibration is proposed. Compared with other algorithms, numerical simulations are performed to evaluate the effectiveness of integral form of the cross product calibration method. Experiment on the hex-rotor unmanned aerial vehicle platform shows that the proposed method has great advantages in low-cost integrated navigation system.
Highlights
Attitude determination of unmanned aerial vehicles (UAVs) is essentially an integrated navigation problem.[1]
For an INS equipped with low-end micro-electro mechanical system (MEMS) sensors, using specific and precision equipment to calibrate tri-axial gyroscopes will raise the cost and is usually impractical
Based on the above analysis, a vector cross product calibration method for a tri-axial gyroscope is proposed, which is expressed as the cross product of the reference vector and the angular velocity
Summary
Attitude determination of unmanned aerial vehicles (UAVs) is essentially an integrated navigation problem.[1]. Based on the above analysis, a vector cross product calibration method for a tri-axial gyroscope is proposed, which is expressed as the cross product of the reference vector and the angular velocity. In Fong’s method, the reference vector u is calculated by INS updating algorithm (such as the fourth-order Runge-Kutta algorithm in the following simulation), rather than provided by accelerometer.
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