Measurement Level Integration of Multiple Low-Cost GPS Receivers for UAVs

Akshay Shetty, Grace Xingxin Gao

Abstract:	UAVs are increasingly being used outdoors for surveillance, exploration, search, rescue and other purposes. A good position estimate allows us to precisely navigate and avoid objects, thus maximising the potential of autonomous applications. There is a growing need for an inexpensive, high performance GPS solution providing better accuracy and robustness. In this paper we incorporate measurements from multiple low-cost, light-weight receivers using an Extended Kalman Filter (EKF). The estimates from the EKF are then compared to the estimates from just one receiver. Experiments are conducted by placing five u-blox receivers on a quadrotor, one on each arm and one at the center. The results show an improvement in accuracy and robustness while using multiple receivers.
Published in:	Proceedings of the 2015 International Technical Meeting of The Institute of Navigation January 26 - 28, 2015 Laguna Cliffs Marriott Dana Point, California
Pages:	842 - 848
Cite this article:	Shetty, Akshay, Gao, Grace Xingxin, "Measurement Level Integration of Multiple Low-Cost GPS Receivers for UAVs," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 842-848.
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