文章基本信息

标题：Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation
其他标题：Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation
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作者：Lasmadi Lasmadi ; Adha Imam Cahyadi ; Samiadji Herdjunanto 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2017
卷号：7
期号：5
页码：2596-2604
DOI：10.11591/ijece.v7i5.pp2596-2604
语种：English
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.
其他摘要：The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.
关键词：Instrumentation and Control;drift compensation; imu; inertial navigation; kalman filter; quadrotor