Title: Design of Integrated Navigation System using IMU and Multiple Ranges from In-Flight Rotating Hexacopter System
Author(s): Byungjin Lee, Gwangsoo Park, Kangsoo Ryu, Young Jae Lee, SangKyung Sung
Published in: Proceedings of IEEE/ION PLANS 2018
April 23 - 26, 2018
Hyatt Regency Hotel
Monterey, CA
Pages: 673 - 679
Cite this article: Lee, Byungjin, Park, Gwangsoo, Ryu, Kangsoo, Lee, Young Jae, Sung, SangKyung, "Design of Integrated Navigation System using IMU and Multiple Ranges from In-Flight Rotating Hexacopter System," Proceedings of IEEE/ION PLANS 2018, Monterey, CA, April 2018, pp. 673-679.
Full Paper: ION Members/Non-Members: 1 Download Credit
Sign In
Abstract: This paper introduces a new integrated navigation algorithm using sensor measurements from INS and multiple range sensors. A simple INS model is employed in design with states of position, velocity and attitude. From a geometric interpretation on line of sight vectors, the measurement model of the multiple range sensors is derived, and then linearized to design the extended Kalman filter. To verify the proposed algorithm, a comprehensive simulator is designed, and the results are compared between flight scenarios. For practical performance demonstration, experiment result with a multicopter platform is presented. As a result of the experiment, the suggested algorithm is proven to be valid for an indoor hexarotor flight.