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Sistemas de navegación – Publicaciones

Prototyping an Accurate Position and Attitude Estimator for Small UAVs with Commercial IMUs and Low-Cost GNSS

Article published in Inside GNSS magazine May / June 2015 Authors:  Gianluca Falco, María Campo-Cossío Gutiérrez, Esther López Casariego, Fabio Zacchello, Serge Bories This article describes the design and development of a low-cost attitude determination and navigation system based primarily on mass market OEM GNSS receivers and antennas, aided by MEMS inertial sensors. Advances presented here target optimization of cost, weight, size, and power consumption such that the overall system may be used for the control and navigation of small UAVs. Download this article (PDF)  

Low-cost Real-time Tightly-coupled GNSS/INS Navigation System Based on Carrier Phase Double Differences for UAV Applications

Artículo presentado en la ION-GNSS Conference 2014 Tampa (Florida), 8-12/09/2014. En el artículo se presenta el prototipo de sistema de navegación de bajo coste desarrollado en el proyecto LOGAM. El artículo fue presentado en la conferencia por Gialcula Falco de ISMB en representación del grupo de trabajo LOGAM. Gianluca Falco, Istituto Superiore Mario Boella, Italy; María Campo-Cossío Gutiérrez, Fundación Centro Tecnológico de Componentes (CTC), Spain; Ernesto López Serna, Acorde Technologies S.A., Spain; Fabio Zacchello, Aermatica SPA, Spain; Serge Bories, Commissariat àl’Énergie Atomique, France ABSTRACT: This paper shows the design and development of a truly low cost attitude determination and navigation... Read More

Attitude determination from GPS signals

9th International Conference Computational And Mathematical Methods In Science And Engineering. Gijón, June 30, July 1-3, 2009.  Alejandro P. Nicolás, Laureano González-Vega, Michael González Harbour, Raúl Arnau, Daniel Bolado, María Campo-Cossío, Alberto Puras Abstract: The aim of this work is to design an efficient algorithm for attitude determination using data from non-dedicated GPS receivers. So, we compare two different methods. They use L1carrier phase-double differences obtained from real GPS signals. The first one provides an instantaneous estimation of the attitude reducing the ambiguity search space. However, it is very sensitive to experimental errors. The second one exploits the redundancy of... Read More

ATTITUDE DETERMINATION FROM GPS SIGNALS

9th International Conference Computational And Mathematical Methods In Science And Engineering. Gijón, June 30, July 1-3, 2009. Alejandro P. Nicolás, Laureano González-Vega, Michael González Harbour, Raúl Arnau, Daniel Bolado, María Campo-Cossío, Alberto Puras  Abstract: The aim of this work is to design an efficient algorithm for attitude determination using data from non-dedicated GPS receivers. So, we compare two different methods. They use L1carrier phase-double differences obtained from real GPS signals. The first one provides an instantaneous estimation of the attitude reducing the ambiguity search space. However, it is very sensitive to experimental errors. The second one exploits the redundancy of... Read More

Real-time attitude determination system based on GPS and aided by low-cost inertial sensors

13th IAIN world congress and exhibition. Stockholm, Sweden, October 27-29, 2009.  María Campo-Cossío, Alberto Puras, Raúl Arnau, Daniel Bolado  Abstract: This paper explores a low-cost GNSS attitude determination solution based on L1 GPS receivers with the aiding of MEMS gyroscopes. The proposed approach resolves integer ambiguity on-the-fly using single frequency carrier phase measurements overcoming the problems of reliability, availability and performance present in high dynamic environments in common low-cost GNSS attitude determination systems. For high-precision GPS-based attitude determination reliable integer ambiguity resolution (IAR) has been a critical issue, being performance and computational efficiency of the ambiguity search process its main... Read More

MULTI-GNSS Receivers/IMU System Aimed at the Design of a Heading-Constrained Tightly-Coupled Algorithm

ICL-GNSS 2013 International Conference on Localization and GNSS. Turin, Italy, June 25-27, 2013.  Gianluca Falco, María Campo-Cossío, Alberto Puras  Abstract: This paper presents the design of a truly low-cost multi-GNSS receivers /IMU navigation system that exploits the benefits of GNSS technology in attitude determination. The sensor package of the system consists of 4 single chipset receivers, 4 antennas, and one low grade MEMS IMU. Both parts, the GNSS and the IMU ones, are integrated by following a heading-constrained Tightly-Coupled approach, where inertial and GNSS raw measurements as well as GNSS computed heading are blended into an Extended Kalman Filter. To... Read More

Reactive Navigation and Online SLAM in Autonomous Frontier-Based Exploration

5th IWINAC 2013: International Work-Conference on the Interplay Between Natural and Artificial Computation, Mallorca, Spain, June 10-14, 2013. Raúl Arnau Prieto, José Manuel Cuadra Troncoso, José Ramón Álvarez Sánchez, Israel Navarro Santosjuanes Abstract: This paper describes an autonomous exploration algorithm for mobile robots. The method implements a frontier-based exploration strategy that relies on a reactive navigation system and a SLAM algorithm. Despite its strong biological inspiration, the navigation method is especially well suited for the exploration task since it is able to accept and follow higher level position targets while guaranteeing the integrity of the robot. The SLAM module is intended for online... Read More