Eling Christian, Klingbeil Lasse, Kuhlmann Heiner
Institute of Geodesy and Geoinformation, University of Bonn, Nussallee 17, 53115 Bonn, Germany.
Sensors (Basel). 2015 Oct 16;15(10):26212-35. doi: 10.3390/s151026212.
In this paper, a newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented. The system is intended to provide highly accurate positions and attitudes (better than 5 cm and 0.5°) in real time, using lightweight components. The main focus of this paper is on the attitude determination with the system. This attitude determination is based on an onboard single-frequency GPS baseline, MEMS (micro-electro-mechanical systems) inertial sensor readings, magnetic field observations and a 3D position measurement. All of this information is integrated in a sixteen-state error space Kalman filter. Special attention in the algorithm development is paid to the carrier phase ambiguity resolution of the single-frequency GPS baseline observations. We aim at a reliable and instantaneous ambiguity resolution, since the system is used in urban areas, where frequent losses of the GPS signal lock occur and the GPS measurement conditions are challenging. Flight tests and a comparison to a navigation-grade inertial navigation system illustrate the performance of the developed system in dynamic situations. Evaluations show that the accuracies of the system are 0.05° for the roll and the pitch angle and 0.2° for the yaw angle. The ambiguities of the single-frequency GPS baseline can be resolved instantaneously in more than 90% of the cases.
本文介绍了一种新开发的直接地理参考系统，用于重量限制为5千克、尺寸限制为1.5米的轻型无人机的制导、导航与控制，以及基于无人机的测量和遥感应用。该系统旨在使用轻型组件实时提供高精度的位置和姿态（优于5厘米和0.5°）。本文的主要重点是该系统的姿态确定。这种姿态确定基于机载单频GPS基线、MEMS（微机电系统）惯性传感器读数、磁场观测和三维位置测量。所有这些信息都集成在一个十六状态误差空间卡尔曼滤波器中。算法开发中特别关注单频GPS基线观测的载波相位模糊度解算。我们的目标是实现可靠且即时的模糊度解算，因为该系统用于城市地区，在那里GPS信号锁定经常丢失且GPS测量条件具有挑战性。飞行测试以及与导航级惯性导航系统的比较说明了所开发系统在动态情况下的性能。评估表明，该系统的横滚角和俯仰角精度为0.05°，偏航角精度为0.2°。单频GPS基线的模糊度在超过90%的情况下可以即时解算。
