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Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system
journal contribution
posted on 2023-05-19, 06:13 authored by Gautam, D, Arko LucieerArko Lucieer, Malenovsky, Z, Christopher WatsonChristopher WatsonSmall-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.
Funding
Australian Research Council
History
Publication title
Journal of Surveying EngineeringVolume
143Issue
4Article number
04017009Number
04017009Pagination
1-11ISSN
0733-9453Department/School
School of Geography, Planning and Spatial SciencesPublisher
Asce-Amer Soc Civil EngineersPlace of publication
1801 Alexander Bell Dr, Reston, USA, Va, 20191-4400Rights statement
© 2017 ASCERepository Status
- Restricted