Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment

Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment

The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme,...

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Main Authors: Chong Shen, Zesen Bai, Huiliang Cao, Ke Xu, Chenguang Wang, Huaiyu Zhang, Ding Wang, Jun Tang, Jun Liu
Format: Article
Language:English
Published: Hindawi Limited 2016-01-01
Series:Journal of Sensors
Online Access:http://dx.doi.org/10.1155/2016/6105803
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spelling doaj-50f54e26674b4c90861e313b6c7737872020-11-24T20:54:30ZengHindawi LimitedJournal of Sensors1687-725X1687-72682016-01-01201610.1155/2016/61058036105803Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied EnvironmentChong Shen0Zesen Bai1Huiliang Cao2Ke Xu3Chenguang Wang4Huaiyu Zhang5Ding Wang6Jun Tang7Jun Liu8National Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaSchool of Electronics Engineering and Computer Science, Peking University, Beijing 100871, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaNational Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, ChinaThe drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.http://dx.doi.org/10.1155/2016/6105803
collection DOAJ
language English
format Article
sources DOAJ
author Chong Shen
Zesen Bai
Huiliang Cao
Ke Xu
Chenguang Wang
Huaiyu Zhang
Ding Wang
Jun Tang
Jun Liu
spellingShingle Chong Shen
Zesen Bai
Huiliang Cao
Ke Xu
Chenguang Wang
Huaiyu Zhang
Ding Wang
Jun Tang
Jun Liu
Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
Journal of Sensors
author_facet Chong Shen
Zesen Bai
Huiliang Cao
Ke Xu
Chenguang Wang
Huaiyu Zhang
Ding Wang
Jun Tang
Jun Liu
author_sort Chong Shen
title Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
title_short Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
title_full Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
title_fullStr Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
title_full_unstemmed Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
title_sort optical flow sensor/ins/magnetometer integrated navigation system for mav in gps-denied environment
publisher Hindawi Limited
series Journal of Sensors
issn 1687-725X
1687-7268
publishDate 2016-01-01
description The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.
url http://dx.doi.org/10.1155/2016/6105803
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AT chenguangwang opticalflowsensorinsmagnetometerintegratednavigationsystemformavingpsdeniedenvironment
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