Onboard and External Magnetic Bias Estimation for UAS through CDGNSS/Visual Cooperative Navigation.

ABSTRACT: This paper describes a calibration technique aimed at combined estimation of onboard and external magnetic disturbances for small Unmanned Aerial Systems (UAS). In particular, the objective is to estimate the onboard horizontal bias components and the external magnetic declination, thus improving heading estimation accuracy. This result is important to support flight autonomy, even in environments characterized by significant magnetic disturbances. Moreover, in general, more accurate attitude estimates provide benefits for georeferencing and mapping applications. The approach exploits cooperation with one or more "deputy" UAVs and combines drone-to-drone carrier phase differential GNSS and visual measurements to attain magnetic-independent attitude information. Specifically, visual and GNS

SUBMITTER: Vitiello F 

PROVIDER: S-EPMC8196794 | biostudies-literature | 2021 May

REPOSITORIES: biostudies-literature