A Micro Air Vehicle Navigation System

Benjamin B. Mohr and David L. Fitzpatrick

Abstract:	A description of the design, operation, and test results of a Micro-Electro-Mechanical (MEMS) based navigation system for the Micro Air Vehicle (MAV) is presented. The MAV is a small Unmanned Aerial Vehicle (UAV) built by Honeywell. It is one of the first applications to use Honeywell’s new HG1930 MEMS inertial measurement unit (IMU). The raw IMU measurements are transmitted via a serial interface to a processor board where the inertial solution is blended in a Kalman filter with measurements from GPS, a barometric altimeter, and a magnetometer. The navigation is performed by Honeywell’s ECTOS IIc navigation software. The modular ECTOS architecture allows easy customization for use with various IMUs and aiding sources, creating a flexible navigation solution which can be customized to the user’s requirements. The MAV has been extensively flight tested both on and off tether. Results are presented showing the performance of the MAV navigation system.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	808 - 813
Cite this article:	Mohr, Benjamin B., Fitzpatrick, David L., "A Micro Air Vehicle Navigation System," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 808-813. https://doi.org/10.1109/PLANS.2006.1650677
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