High Performance RTK for Small UAVs

M.R. Phillips, K.L. Johnson, T.D. Arthur, M.S. Braasch, K.M. Scheff

Abstract:	The Antenna Baseline Measurement System (ABMS) is a real-time kinematic (RTK) system developed by the Ohio University (OU) Avionics Engineering Center (AEC) which can be used for sensor platform stabilization to the sub-centimeter level. Due to the motion stabilization requirements of platforms such as cameras, receivers, and radars, the ABMS system provides a 3D baseline estimate of the relative position between two GPS antennas at a rate of up to 100 Hz. This allows associated platforms, which locate their sensors near the GPS antennas to mathematically stabilize using their associated algorithms, sometimes known as "de-blurring" algorithms. Design emphasis has been placed on quick and reliable RTK ambiguity initialization in both airborne and urban navigation environments. Upgrades to the ABMS, discussed in this paper, include changes to the embedded processor along with miniaturization efforts. In order to be integrated onto small UAV, ABMS requires small, low power, light weight, embedded computers. The previous onboard processor, while supporting the Linux operating system, was marginal for the current processing requirements of the ABMS and was no longer being adequately supported. Operational requirements involve sensor control, recording, and wireless network support. Future processing requirements include an upgrade for multiple baselines and for providing onboard baseline calculations.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	266 - 271
Cite this article:	Phillips, M.R., Johnson, K.L., Arthur, T.D., Braasch, M.S., Scheff, K.M., "High Performance RTK for Small UAVs," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 266-271.
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