28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-11.9.1

DEVELOPMENT OF NAVIGATION ALGORITHMS FOR NAP-OF-THE-EARTH UAV FLIGHT IN A CONSTRAINED URBAN ENVIRONMENT

M. Ireland, D. Anderson
Univ. of Glasgow, UK

Keywords: mav, quadrotor, inertial navigation, extended kalman filter

Investigation of the measurement of position and attitude data using a low-end inertial measurement unit. Sensor errors are minimised using Kalman filters, several of which are designed and their effects compared. Sensor feedback is augmented with internal model validation. Simulation testing is employed and validated experimentally, using a quadrotor micro-UAV.

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