team awesome-aoc autonomous winged educational surveillance operational mission experiment
DESCRIPTION
Team AWESOME-AOC Autonomous Winged Educational Surveillance Operational Mission Experiment. Using inertial navigation systems (INS) to navigate small unmanned aerial system ( sUAS ) when GPS is lost or inaccurate. Michael du Breuil , Alex Goodan. Team AWESOME-AOC. Overview. Problem - PowerPoint PPT PresentationTRANSCRIPT
Team AWESOME-AOCAutonomous Winged Educational Surveillance Operational Mission Experiment
Team AWESOME-AOC
Using inertial navigation systems (INS) to navigate
small unmanned aerial system (sUAS) when GPS is lost or
inaccurateMichael du Breuil, Alex Goodan
Overview
ProblemOur ResearchWhat’s Next
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ProblemGPS is susceptible to exterior
interferenceCurrent sUAS navigation solutions are
GPS reliantCurrent off the shelf INS solutions
degrade quickly
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Our ResearchEvaluate off the shelf sensorsProjected accuracy ratesError analysisFoundation for improved INS in sUAS
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INS ComponentsAccelerometerGyroscopeMagnetometerBarometer
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Test PlatformCustom made airframeArduPilot/PX4/PixHawk autopilotBeagleBone Black
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MPU-6000Used on ArduPilot/PX4/PixHawkCost: $154x4x0.9mm<1 gram
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VectorNav VN-200Low-medium performance MEMSCost: $2,00036 x 34 x 9.5mm14 grams (0.03 lbs)
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Sensonor STIM 300High end performance MEMSCost: $10,00044.8 x 38.6 x 21.5mm55 grams (0.12 lbs)
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KVH 1750High performance for sizeCost: $25,00088.9 x 73.7 mm600 grams (1.4 lbs)
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IMU Error Sources
Noise
Bias Stability
System Error
Bias
Bias Instability
Scale Factor/
Misalignment
Fixed Bias
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Sample Simulation (VN-200)
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Simulated Results
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MPU-6000 VN-200 STIM-300 KVH 1750 HG99000
1000
2000
3000
4000
5000
6000
7000
8000
6,889
3,478
417 202 105
Simulated Error over 3 Minutes
Inertial Measurement Units
Posi
tion
Erro
r (M
eter
s)
Data AcquisitionTime stamps – Needs to be closer to
the hardwareDevelopment kit problemsRepeatability
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What’s NextFurther simulation of sensor
performance Improve acquisitionFlight test all available sensorsDevelopment of INS system
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Team AWESOME-AOC
Questions?
MPU-6000
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VectorNav VN-200
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Sensonor STIM 300
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KVH 1750
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IMU Error Sources
Noise
Bias Stability
System Error
Bias
Bias Instability
Scale Factor/
Misalignment
Fixed Bias
Team AWESOME-AOC
Team AWESOME-AOC
Questions?