Determinação das variáveis de navegação de um ARP asa fixa com fusão de dados de unidade inercial, gps e método triad

Abstract

The present work provides as main contribution the determination of the position, velocity and attitude of a fixed wing type remotely piloted aircraft (RPA). The integration of MEMS type inercial (Micro-Electro-Mechanical Systems) with GPS data are presented and analyzed. The extended kalman filter (EKF) technique was used for sensory fusion. The EKF is a recursive data processing algorithm that combines all available measurements, regardless of their accuracy, in order to estimate the current value of the variables of interest. The algorithm was implemented in MATLAB language, and simulation and testing using the graphical programming language, SIMULINK. Attitude was determined implicitly with the Kalman filter and explicitly with the TRIAD method. Results with and without noise were also determined.