Comparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system

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dc.contributor.authorGautam, D.
dc.contributor.authorLucieer, A.
dc.contributor.authorMalenovský, Z.
dc.contributor.authorWatson, C.
dc.date.issued2017
dc.descriptionPublished online on May 2, 2017
dc.description.abstractSmall-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-antenna MTi-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 from a 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 SPAN IMU.
dc.description.statementofresponsibilityDeepak Gautam, Arko Lucieer, Zbyněk Malenovský, and Christopher Watson
dc.identifier.citationJournal of Surveying Engineering, 2017; 143(4):04017009-1-04017009-11
dc.identifier.doi10.1061/(ASCE)SU.1943-5428.0000225
dc.identifier.issn0733-9453
dc.identifier.issn1943-5428
dc.identifier.orcidGautam, D. [0000-0003-2852-4204]
dc.identifier.urihttp://hdl.handle.net/2440/115785
dc.language.isoen
dc.publisherAmerican Society of Civil Engineers
dc.relation.granthttp://purl.org/au-research/grants/arc/DP140101488
dc.rights© 2017 American Society of Civil Engineers.
dc.source.urihttps://doi.org/10.1061/(asce)su.1943-5428.0000225
dc.subjectUnmanned aircraft systems (UAS); Fiberoptic gyroscope (FOG); Microelectromechanical systems (MEMS); Inertial measurement units (IMUs); Global navigation satellite system (GNSS); Accuracy; Pose
dc.titleComparison of MEMS-based and FOG-based IMUs to determine sensor pose on an unmanned aircraft system
dc.typeJournal article
pubs.publication-statusPublished

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