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Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system

Gautam, D ORCID: 0000-0003-2852-4204, Lucieer, A ORCID: 0000-0002-9468-4516, Malenovsky, Z and Watson, C ORCID: 0000-0002-7464-4592 2017 , 'Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system' , Journal of Surveying Engineering, vol. 143, no. 4 , pp. 1-11 , doi: 10.1061/(ASCE)SU.1943-5428.0000225.

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Small-sized unmanned aircraft systems (UAS) are restricted to use only lightweight microelectromechanical systems (MEMS)- based inertial measurement units (IMUs) due to their limited payload capacity. Still, some UAS-based geospatial remote sensing applications, such as airborne spectroscopy or laser scanning, require high accuracy pose (position and orientation) determination of the onboard sensor payload. This study presents ground-based experiments investigating the pose accuracy of two MEMS-based IMUs: the single-antennaMTi-G-700 (Xsens, Enschede, Netherlands) and the dual-antenna/dual-frequency Spatial Dual IMU (Advanced Navigation, Sydney, Australia)/global navigation satellite system (GNSS).A tightly coupled and postprocessed pose solution froma fiberoptic gyroscope (FOG)-based NovAtel synchronized position attitude navigation (SPAN) IMU (NovAtel, Calgary, Canada) served as a reference to evaluate the performance of the two IMUs under investigation. Results revealed a better position solution for the Spatial Dual, and the MTi-G-700 achieved a better roll/pitch accuracy. Most importantly, the heading solution from the dual-antenna configuration of the Spatial Dual was found to be more stable than the heading obtained with the reference SPANIMU.

Item Type: Article
Authors/Creators:Gautam, D and Lucieer, A and Malenovsky, Z and Watson, C
Keywords: unmanned aircraft systems (UAS), fiberoptic gyroscope (FOG), microelectromechanical systems (MEMS), inertial measurement units (IMUs), global navigation satellite system (GNSS), accuracy, pose
Journal or Publication Title: Journal of Surveying Engineering
Publisher: Asce-Amer Soc Civil Engineers
ISSN: 0733-9453
DOI / ID Number: 10.1061/(ASCE)SU.1943-5428.0000225
Copyright Information:

© 2017 ASCE

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