Coupling architecture between INS / GPS for precise navigation in established trajectories
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Abstract
A prototype based on development cards for coupling the inertial navigation system with GPS is implemented to improve navigation accuracy on a trajectory. Initially, it is necessary to calibrate the inertial measurement unit (IMU) using the MADGWICK filter to obtain reliable raw data. The global positioning system (GPS) and IMU signals are coupled through the Tight Coupling architecture using the Kalman filter to concurrently eliminate correlated errors between systems and achieve better accuracy in the general navigation solution used for unmanned aerial vehicle (UAV) applications. The final application, called LJLAB, is developed in Matlab® with the aim of processing and visualizing the measured data of both systems (independent and coupled). The application can show the error in positioning accuracy between technologies being statistically verified through the experimental method ANOVA, which computes the absolute error between the actual points and those measured by analyzing the mean and variance of the observed data.
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