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International Journal of Applied Research in Mechanical Engineering

Abstract

This paper presents two ways to implement Extended Kalman Filter (EKF) algorithm for Inertial Navigation of a Micro Aerial Vehicle (MAV). The objective is to develop a fully integrated system using Micro electro mechanical systems (MEMS) inertial sensors combined with low-update rate Global positioning system (GPS) measurements. The approach uses three accelerometers, three gyroscopes and GPS measurements to aid the EKF algorithm. Two ways to implement EKF (15-state and splitarchitecture) are presented and observability issues are addressed in each case. EKF performance was evaluated by comparing the estimates with the simulated truth data.

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