Using inertial navigation systems (INS) to navigate

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Presentation transcript:

Team AWESOME-AOC Autonomous Winged Educational Surveillance Operational Mission Experiment Using inertial navigation systems (INS) to navigate small unmanned aerial system (sUAS) when GPS is lost or inaccurate Michael du Breuil, Alex Goodan Team AWESOME-AOC

Problem Our Research What’s Next Overview Problem Our Research What’s Next Team AWESOME-AOC

Problem GPS is susceptible to exterior interference Current sUAS navigation solutions are GPS reliant Current off the shelf INS solutions degrade quickly Team AWESOME-AOC

Our Research Evaluate off the shelf sensors Projected accuracy rates Error analysis Foundation for improved INS in sUAS Team AWESOME-AOC

INS Components Accelerometer Gyroscope Magnetometer Barometer Team AWESOME-AOC

Test Platform Custom made airframe ArduPilot/PX4/PixHawk autopilot BeagleBone Black Team AWESOME-AOC

MPU-6000 Used on ArduPilot/PX4/PixHawk Cost: $15 4x4x0.9mm <1 gram Team AWESOME-AOC

VectorNav VN-200 Low-medium performance MEMS Cost: $2,000 36 x 34 x 9.5mm 14 grams (0.03 lbs) Team AWESOME-AOC

Sensonor STIM 300 High end performance MEMS Cost: $10,000 44.8 x 38.6 x 21.5mm 55 grams (0.12 lbs) Team AWESOME-AOC

KVH 1750 High performance for size Cost: $25,000 88.9 x 73.7 mm 600 grams (1.4 lbs) Team AWESOME-AOC

Scale Factor/ Misalignment IMU Error Sources System Error Noise Bias Scale Factor/ Misalignment Bias Stability Bias Instability Fixed Bias Team AWESOME-AOC

Sample Simulation (VN-200) Team AWESOME-AOC

Simulated Results Team AWESOME-AOC

Data Acquisition Time stamps – Needs to be closer to the hardware Development kit problems Repeatability Team AWESOME-AOC

What’s Next Further simulation of sensor performance Improve acquisition Flight test all available sensors Development of INS system Team AWESOME-AOC

Questions? Team AWESOME-AOC

MPU-6000 Team AWESOME-AOC

VectorNav VN-200 Team AWESOME-AOC

Sensonor STIM 300 Team AWESOME-AOC

KVH 1750 Team AWESOME-AOC

Scale Factor/ Misalignment IMU Error Sources System Error Noise Bias Scale Factor/ Misalignment Bias Stability Bias Instability Fixed Bias Team AWESOME-AOC

Questions? Team AWESOME-AOC