Improving Robustness of the MAV Yaw Angle Estimation for Low-Cost INS/GPS Integration Aided by Tri-axial Magnetometer

IET Radar, Sonar & Navigation（2020）

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摘要

This study designs a method to improve the robustness of the micro air vehicle (MAV) yaw angle estimation for low-cost inertial navigation system/global positioning system (INS/GPS) integration by using a tri-axial magnetometer. Observability properties of the integration navigation system are first analysed, indicating that all attitude angles have great observability with the aid of the heading ...

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关键词

autonomous aerial vehicles,calibration,Global Positioning System,inertial navigation,magnetometers,microrobots,observability,robust control

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