Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for   MAV in GPS-Denied Environment

doi:10.1155/2016/6105803

CORC > 北京大学 > 信息科学技术学院

	Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment
	Shen, Chong ; Bai, Zesen ; Cao, Huiliang ; Xu, Ke ; Wang, Chenguang ; Zhang, Huaiyu ; Wang, Ding ; Tang, Jun ; Liu, Jun
刊名	JOURNAL OF SENSORS
	2016
关键词	KALMAN FILTER GPS/INS
DOI	10.1155/2016/6105803
英文摘要	The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.; China National Funds for Distinguished Young Scientists [51225504]; National 973 Program [2012CB723404]; National Natural Science Foundation of China [91123016, 61171056]; Shanxi Scholarship Council of China [2015-082]; North University of China [110246]; SCI(E); EI; ARTICLE; liuj@nuc.edu.cn; 2016
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/437899]
专题	信息科学技术学院
推荐引用方式 GB/T 7714	Shen, Chong,Bai, Zesen,Cao, Huiliang,et al. Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment[J]. JOURNAL OF SENSORS,2016.
APA	Shen, Chong.,Bai, Zesen.,Cao, Huiliang.,Xu, Ke.,Wang, Chenguang.,...&Liu, Jun.(2016).Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment.JOURNAL OF SENSORS.
MLA	Shen, Chong,et al."Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment".JOURNAL OF SENSORS (2016).