1P1-F17 A Study on Estimation Method of the Magnetic Declination for Autonomous Unmanned Aerial Vehicles
-
- NAKANISHI Hiroaki
- Kyoto University
-
- Kanata Sayaka
- Kyoto University
-
- Sawaragi Tetsuo
- Kyoto University
-
- Horiguchi Yukio
- Kyoto University
Bibliographic Information
- Other Title
-
- 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)
Abstract
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.
Journal
-
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008 (0), _1P1-F17_1-_1P1-F17_4, 2008
The Japan Society of Mechanical Engineers
- Tweet
Details 詳細情報について
-
- CRID
- 1390282680912750848
-
- NII Article ID
- 110008696123
-
- ISSN
- 24243124
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed