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| Year of publication | 2013 |
|---|---|
| Category | Others |
| Subject | |
| Title | 전기모터를 사용한 소형 무인헬리콥터에 활용될 항법장치용 자장계 보상 |
| Author | 이길호 |
| Journal title | 학위논문(석사) |
| Publication date | 2013.08 |
| Volume & Other data | |
| Abstract | The unmanned helicopter using electric motor has an advantage of convenient maintenance. But the electric motor generates magnetic field which may disturb the magnetometer dynamically. So the INS with GNSS and magnetometer (INS/GNSS/MAG) should consider this effect.
To handle this problem, many researchers devised sensor fusion algorithms. The most popular combination is an INS and the GNSS. The GNSS provides non-divergent position and velocity information with relatively high accuracy. However, the observability of attitude from position and velocity measurements is limited during linear flight and stationary situations. so, augmenting with an extra sensor is needed for full observability. Using a magnetometer, the attitudes can be estimated with an Earth’s magnetic field model. But it has a weak point of the iron effects. The magnetometer should be calibrated for not only misalignment error but also soft iron distortion and hard iron distortion errors. This paper proposes the INS aiding with GNSS and magnetometer for unmanned helicopter using electric motor. First we analyze the characteristics of magnetic field with electric motor and effects on the performance of the INS/GNSS/MAG. And we show how to compensate the dynamic interference effects. This method is validated with nonlinear simulation and flight test. |
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| File |  전기모터를 사용한 소형 무인헬리콥터에 활용될 항법장치용 자장계 보상.pdf (3.0M) [13] DATE : 2014-06-06 16:28:35 |
