REAL TIME UAV POSITION & ATTITUDE ESTIMATION USING

LOW-COST MEMS AND GPS

Presented By:
Abhishek Marwaha Under the Guidance of:
R890217004
Abhishek Sharma Mr. M Raja
R890217006 Assistant professor,
Devison J Kochuveettil Aerospace department
R890217014
Bathula Narender
R890217013
 ABSTRACT
• The main focus of this paper is on the
attitude determination with the system.
Direct georeferencing system for the
guidance, navigation and control of low cost
unmanned aerial vehicles (UAV), and for
UAVbased surveying and remote sensing
applications are to be presented. Certain
3
 INTRODUCTION
 The recent interest in unmanned aerial vehicles (UAVs) necessitates the development of small and lightweight
direct georeferencing systems for the guidance, navigation and control (GNC) of UAVs and UAV-based surveying
or remote sensing applications.
 Direct georeferencing comprises the determination of the position (e.g., X, Y, Z) and the attitude (e.g., α, β, γ)
of a sensor or the vehicle relative to the Earth, represented in a predefined coordinate frame. The attitude is
usually defined as the orientation between the body fixed coordinate frame and the navigation coordinate frame.
 3D position measurement: This can be a code-based GPS position with accuracies of several meters or a cm-
accurate RTK (real-time kinematic) GPS position.
 MEMS IMU readings: The IMU readings include angular rates and accelerations, measured by three-axis
gyroscopes and accelerometers.
 Magnetic field observations: The magnetic field observations come from a calibrated magnetometer, which is
placed as far away as possible from the electric currents on the UAV platform.
MICRO ELECTROMECHANICAL SYSTEM
GLOBAL POSITIONING SYSTEM
 OBJECTIVE

The objective of this project is to create a real time UAV position &
attitude estimation using low-cost MEMS and GPS.
Designing a real time UAV position & attitude estimation using low-
cost MEMS and GPS which has a low cost for construction, which is
small enough such that they can be operated anywhere while using
very less space.
We have to also work on the efficiency of the system.
BLOCK DIAGRAM
 LITERATURE REVIEW
AUTHOR/ TOPICS FINDINGS
DATE
C. Goodall INTELLIGENT A new technique for tuning a Kalman filter was presented using reinforcement learning. This method can be
& Naser TUNING OF A applied on-line as navigation data is collected to further update the a priori parameters needed for the filter.
El-Sheimy KALMAN FILTER In terms of performance two distinct indicators were used: time to tune the filter and accuracy of the tuning.
May 2012 USING LOW-COST In comparison to an exhaustive search the tuning took about 400 iterations to converge, which was
MEMS INERTIAL significantly less than performing an exhaustive search of 3125 iterations. For accuracy, the method was
SENSORS compared to a traditional tuning approach. In this case the tuning converged to 126 meters with the RL
method and 135 meters with a traditional method.

Abdelrah Low-cost MEMS- An enhanced attitude estimation technique based on two different attitude sensors is presented.The
man ali & based pedestrian algorithmis based on the quaternion mechanization to estimate the device
Naser EI- navigation technique attitude.The filter is working as a complementary technique; the Earth’s magnetic field and the angle rate are
Sheimy for GPS-denied areas integrated to estimate the device heading. The filter is propagated in the prediction mode using the
June 2013 gyroscope measurements while the magnetometer and accelerometer measurements are used for the
update stage.The improvement inthe attitude estimation leads to an improved PDR result. The PDRbased
estimated trajectory results are compared to reference trajectories to show the accuracy of the proposed
technique. The results show that the presented algorithm is able to provide the necessary navigation
information accurately even in the harsh environments.
 DESIGN & METHODOLOGY
From the first literature review we were able to understand the various filtering process which with the second
paper were able to give us an easier picture on the various aspects like filter gains and gyro drift bias and their
performances next to each other.
In addition from literature review it was quite clear that even with the implementation of a filter (kalman filter)
there was still quite a huge amount of error that was probably arising from the signal noise being developed inside
the two chipsets which were again also out of sync because of the lack of a magnetometer. A magnetometer is
mainly used for speed detection and with fusion algorithm it can eliminate the gyro offset.
From these literature review it was somewhat understood there is a
need to develop better estimator and different methods to actually
find out the best position.
 CONCLUSION

 We are gaining as much as knowledge possible before the development and testing of
prototype.
 FUTURE WORK
Till now we have managed to gain an idea about the development of prototype.
We will have to further decide on the parts for the development of the prototype.
 TIME LINE
We have just started with the design and development of the prototype so we
expected time line for the first prototype will be within the next 2-3 months.
 REFERENCES
 https://www.slideshare.net/naveenthamada/mems-u14-me355
 https://www.slideshare.net/gokulsaud/global-positioning-system-gps-51942739
 https://www.researchgate.net/publication/237431072_INTELLIGENT_TUNING_OF_A_K
ALMAN_FILTER_USING_LOW-COST_MEMS_INERTIAL_SENSORS
 https://www.researchgate.net/publication/258309289_Low-cost_MEMS-
based_pedestrian_navigation_technique_for_GPS-denied_areas