1P1-F17 自律型無人航空機のための地磁気偏角推定に関する研究(飛行ロボット・メカトロニクス) 1P1-F17 A Study on Estimation Method of the Magnetic Declination for Autonomous Unmanned Aerial Vehicles




Measurement of the heading which is free from magnetic declination by use of several GPS antennas is widely applied, but it is not suitable for small unmanned aerial vehicles because of its limit of the payload and body length. In this paper, we propose a method to estimate the magnetic declination using an IMU and one GPS antenna. The method consists of 1) estimation of the acceleration of the motion from GPS measurements and 2) estimation of the magnetic declination angle using the estimated accelerations and IMU measurements. We show that the estimation of the magnetic declination angle results in reduced QUEST, that is an eigenvalue problem of 2 x 2 real matrix. Experimental results of flight control of an unmanned helicopter demonstrate the effectiveness of the proposed method.


  • ロボティクス・メカトロニクス講演会講演概要集

    ロボティクス・メカトロニクス講演会講演概要集 2008(0), _1P1-F17_1-_1P1-F17_4, 2008

    一般社団法人 日本機械学会