Abstract
Micro electro-mechanical system (MEMS) based inertial sensors (accelerometers and gyros) are being widely used in recent times due to low cost and compact size. Navigation unit with MEMS based sensors are employed to measure the body rates and accelerations of a winged body, while being airlifted using an aircraft. The MEMS sensors are aided with global navigation satellite system (GNSS), barometer and magnetometer measurements, while using an extended kalman filter to attain good precision. Prior to the trial, thorough testing and characterisation of the navigation units are done to determine the performance of the navigation unit and repeatability of the results. Electromagnetic interference test ensured the functioning and acquisition of data from the navigation unit in the presence of various frequencies from the aircraft. The body rates and accelerations are measured by mounting the navigation unit on an Angular Motion Simulator (AMS). Deviation of the pose estimation by the MEMS navigation unit with respect to the reference inertial navigation system (INS) is found to be within bounds, justifying the selection of the navigation unit for instrumentation of the winged body. Post test results of the trial validates the pre-flight simulations with an accuracy as predicted from the pre-flight tests.
K. L. N. Sai Nitish and Jiljo K. Moncy—contributed equally to the work
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Acknowledgements
The authors would like to express their gratitude to Shri. Sudar I., Smt. Sheelu Jose, Dr. M.Jayakumar, Shri. Navin M.S. and Dr. Rajeev U.P. for their guidance and motivation through the entirety of the work. The authors sincerely thank Shri. Sajichandrachood O.M., Smt. Suchitra Shenoy, Shri. Vijith Mukundan, Shri. Vishnu R. and Smt. Pallabi Sinha for their relentless support during sensor testing and characterisation.
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Sai Nitish, K.L.N., Moncy, J.K., Dinesh Kumar, M., Karthik, B., Basker, V.T., Padma Kumar, E.S. (2022). Characterisation of Multi-sensor 6D Pose Determination System for Underslung Winged Body. In: Gu, J., Dey, R., Adhikary, N. (eds) Communication and Control for Robotic Systems. Smart Innovation, Systems and Technologies, vol 229. Springer, Singapore. https://doi.org/10.1007/978-981-16-1777-5_15
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DOI: https://doi.org/10.1007/978-981-16-1777-5_15
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