Precise 6D RTK Positioning System for UAV-based Near-Field Antenna Measurements
| Autor: | Hans Jürgen Steiner, Andreas Sperl, Ulrich Mittmann, Torsten Fritzel, Rudiger Strauss, Patrick Henkel |
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| Rok vydání: | 2020 |
| Předmět: |
Positioning system
business.industry Computer science 020208 electrical & electronic engineering 020206 networking & telecommunications 02 engineering and technology Kalman filter Accelerometer Sensor fusion Inertial measurement unit Control theory 0202 electrical engineering electronic engineering information engineering Global Positioning System Antenna (radio) business Pose |
| Zdroj: | 2020 14th European Conference on Antennas and Propagation (EuCAP). |
| DOI: | 10.23919/eucap48036.2020.9135771 |
| Popis: | Near-field antenna measurements with an Unmanned Aerial Vehicle (UAV) require an accurate 3D position and 3D attitude information. In this paper, we estimate the position and velocity of the UAV, the quaternion that describes its attitude, the carrier phase integer ambiguities related to both the attitude and position, and the accelerometer bias with a Kalman filter. The raw measurements were obtained from the ANavS Multi-Sensor RTK module with its 3 Multi-frequency, Multi-GNSS receivers and a MEMS-based Inertial Measurement Unit (IMU). We used the UAV of AeroXess to validate our method and achieved a centimeter-level positioning accuracy in both static and kinematic conditions. |
| Databáze: | OpenAIRE |
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