Abstract
This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed.
Highlights
IMAR Navigation GmbH, located in the southwestern part of Germany, is known as a designer and manufacturer of precise and reliable inertial measurement systems for navigation, surveying, tracking and control for more than 20 years, now. iMAR’s systems are used in industrial, automotive, airborne, mapping, marine, defense and research applications worldwide
The iNAT-M200/SLN was mounted on the aerobatic aircraft of Matthias Dolderer, the German participant in the Master’s League and the World Champion 2016 of the RedBull AirRace [2]
The high system accuracy achieved is a result of the high performance of the inertial sensors used, the good performance of the used GNSS engine, the highly sophisticated strapdown and INS/GNSS data fusion algorithms
Summary
IMAR Navigation GmbH, located in the southwestern part of Germany, is known as a designer and manufacturer of precise and reliable inertial measurement systems for navigation, surveying, tracking and control for more than 20 years, now. iMAR’s systems are used in industrial, automotive, airborne, mapping, marine, defense and research applications worldwide. All systems discussed here feature a similar hardware architecture, which differs only in the interfaces This means, that the embedded computing, calibration, signal processing and output performance of the inertial sensors used, the data-acquisition setup and the variety of data output protocol modules stay the same throughout the entire product lineup. 2) is suitable for small unmanned vehicles It is equipped with an integrated the iNAT-M200/SLN (Manufacturer iMAR Navigation GmbH, St. Ingbert, Germany) (see Figure 2) is high-grade MEMS-based inertial sensor assembly, an integrated GNSS receiver The high system accuracy achieved is a result of the high performance of the inertial sensors used, the good performance of the used GNSS engine, the highly sophisticated strapdown and INS/GNSS data fusion algorithms [3,4,9], and the excellent time synchronization inside the mixed FPGA/μC architecture. Detailed information about the iNAT systems can be found on www.imar-navigation.de
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