Experimental study of the distribution laws of output signals of microelectromechanical navigation sensors of an unmanned aerial vehicle
https://doi.org/10.51955/23121327_2022_1_101
Abstract
The article presents the results of studies of distribution laws of output signals of microelectromechanical sensors used for platformless inertial navigation systems (INS) installed on lightweight unmanned aerial vehicles (UAV). As object of study, the GY-91 sensor was used which is made with the use of microelectromechanical technology and has an inertial measuring unit consisting of three elements located orthogonally: a turn meter, an accelerometer, a magnetometer and a single-channel barometer. Formulas for approximating the mean square deviations of overload, pitch angle and angular velocity indications for various test conditions are given. It is recommended to use the obtained dependences when calibrating accelerometers and angular velocity sensors. Recommendations on the use of different filtering methods depending on the distribution laws of the output parameters of the sensor are given. Various filters used for platformless INS sensors, such as the Kalman filter, the median filter, the AB filter and the complementary filter, are considered. A comparative analysis of algorithms for filtering the output signals of microelectromechanical sensors according to the value of signal-to-noise ratio for an aircraft-type UAV at different propeller speeds was performed. Recommendations are given on the use of the obtained research results for the algorithmic support of lightweight UAV navigation systems.
About the Authors
Andrei A. Sanko
Belarusian State Aviation Academy
Belarus
Belarus
candidate of technical sciences, associate professor
77, Uborevich St., Minsk, 220044
Aliaksey A. Sheynikov
Military academy of the Republic of Belarus
Belarus
Belarus
candidate of technical sciences,
220, Indepedence Ave, Minsk, 220057
Gafur Sh. Tuganov
deputy head of the aviation equipment department of higher military aviation school of the Republic of Uzbekistan
Uzbekistan
Uzbekistan
11, Amir Temur St., Chirchik, 702100
References
1. Avanesov G. A., Bessonov R. V., Dyatlov S. A., Kurkina A. N., Sazonov V. V. (2013). Application of micromechanical gyroscopes for space projects. Modern problems of remote sensing of the Earth from space. T. 10. 4: 51-63. (In Russian).
2. Blair W. D. (1992). Fixed-gain two-stage estimators for tracking maneuvering targets. Naval Surface Warfare Center. 68 p.
3. Brandt Z., Pisarenko V. F (eds) (1975). Statistical methods of analysis of observations. Moscow: Mir. 312 p. (In Russian).
4. Golubev V. D., Sinelnikov A. O. (2018). Filtration of random noise in the output signal for Zeman laser gyroscopes in the process of technological tests. Bulletin of TulSU. Technical science. 5: 98-103. (In Russian).
5. Gray J. E., Murray W. J. (1993). A derivation of an analytic expression for the tracking index for the alpha-beta-gamma filter. IEEE Trans. on Aerospace and Electronic Systems. 29: 1064-1065.
6. Ivanov Yu.V. (2007). Investigation of the statistical characteristics of micromechanical sensors of the inertial module. Sensors and Systems. 1: 25-26. (In Russian).
7. Kaplya V. I., Savitsky I. V., Mastikov D. A. (2018). Calibration of a triaxial accelerometer according to a number of measurements with different orientations. Electronic scientific journal Engineering Bulletin of the Don. 2. [Electronic source] – URL: ivdon.ru/ru/magazine/archive/n2y2018/4963; (accessed: 10.10.21). (In Russian).
8. Konovalov A. A. (2014). Fundamentals of trajectory processing of radar information: in 2 hours. St. Petersburg: Publishing house of ETU "LETI", Part 2. 180 p. (In Russian).
9. Malkin V. A. (2012). Adaptive filters for smoothing sensor signals in microavionics systems. Instruments and measurement methods. 1 (4): 11-15. (In Russian).
10. Maluf N., Williams K. (2006). An Introduction to Microelectromechanical Systems Engineering. ARTECH HOUSE. 304 p.
11. Meleshko V., Nesterenko O. (2011). Strapdown inertial navigation systems. Tutorial. Kirovograd. POLYMED – Service. 171 p. (In Russian).
12. Nikolayev S. G., Ivshina Y. U. (2014). Calibration of strapdown inertial navigation systems using output signals of error model. St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Sys. 4: 95-105. (In Russian).
13. Shin E. H. (2001). Accuracy improvement of low cost INS/GPS for land applications: PHD Thesis. Calgary, Canada: The University of Calgary. 137 p.
14. Syed Z. (2009). Design and implementation issues of a portable navigation system: PHD Thesis. Calgary, Canada: The University of Calgary. 230 p.
15. Zinova V. V. (2018). Synthesis and research of filtering algorithms used at the stage of secondary processing of radar information. Polytechnic Youth Journal. MSTU them. N. E. Bauman. 8: 1-13. (In Russian).
Review
For citations:
Sanko A.A., Sheynikov A.A., Tuganov G.Sh. Experimental study of the distribution laws of output signals of microelectromechanical navigation sensors of an unmanned aerial vehicle. Crede Experto: transport, society, education, language. 2022;(1):101-112. (In Russ.) https://doi.org/10.51955/23121327_2022_1_101
Views:
22
JATS XML
Email this article 