New Approaches to IMU Modeling and INS/GPS Integration for UAV-Based Earth-Observation

P. Molina, M. Wis, M.E. Pares, M. Blazquez, J.C. Tatjer, I. Colomina

Abstract:	A new, ordinary differential equation self-denoising numerical integration algorithm is presented in the context of UAV-based earth observation. The new algorithm generalises previous research at the Institute of Geomatics on multistep variable step-size ODE numerical solvers for INS/GNSS trajectory determination. The general problem of sensor navigation and orientation for small UAV platforms is discussed and illustrated with actual data of a small (25 kg) UAV-helicopter test flight. The motion characteristics of the flight and the response of a tactical grade inertial measurement unit are analysed. From the general discusion and the empirical analysis, a solution strategy to the treatment of inertial measurements in strong vibratory envinronments is proposed which includes the new ODE self-denoising numerical solver. The denoising features and robustness of the new numerical algorithm are evaluated with simulated and actual data.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	1335 - 1344
Cite this article:	Molina, P., Wis, M., Pares, M.E., Blazquez, M., Tatjer, J.C., Colomina, I., "New Approaches to IMU Modeling and INS/GPS Integration for UAV-Based Earth-Observation," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 1335-1344.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In