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Analysis of micro-electromechanical inertial measurement units for unmanned aerial vehicle applications

Mammadov Aftandil

Zeszyty Naukowe. Transport / Politechnika Śląska

2022

z. 117

129--138

Typically, an inertial navigation system (INS) is used to determine the position, speed, and orientation of an object moving relative to the earth's surface. The navigation information (position, speed and orientation) of an unmanned aerial vehicle (UAV) is needed to control its flight. Since the resistance of INS to interferences is very high, it is possible to ensure reliable flights in conditions of high-intensity noise. This article explores the principles of constructing inertial measurement units (IMU) that are part of the INS and indicates perspective directions for their development. Micro-electromechanical inertial measurement units were studied in this work, and functional and principal electrical circuits for connecting units of inertial measurements to the microcontroller were developed. The results of practical measurements of units without calibration and after calibration were obtained using the created laboratory device. Based on the obtained results, the necessity of sensor calibration was revealed, and accuracy was improved by performing calibration with the Kalman filter algorithm. The Kalman filter is the heart of the navigation system. In a low-cost system, IMU errors like bias, scale factor error and random walk noise dominate the INS error growth.

Open extensive IoT research and measurement infrastructure for remote collection and automatic analysis of environmental data

Wiszniewski Ł., Klimowicz D.

TASK Quarterly : scientific bulletin of Academic Computer Centre in Gdansk

2017

Vol. 21, No 4

355--363

Internet of Things devices that send small amounts of data do not need high bit rates as it is the range that is more crucial for them. The use of popular, unlicensed 2.4 GHz and 5 GHz bands is fairly legally enforced (transmission power above power limits cannot be increased). In addition, waves of this length are very difficult to propagate under field conditions ( e.g. in urban areas). The market response to these needs are the LPWAN (Low Power WAN) type networks, whose main features are far-reaching wireless coverage and low power measurement end-nodes that can be battery powered for months. One of the promising LPWAN technologies is the LoRa WAN, which uses a publicly available 868 MHz band (in Europe) and has a range of up to 20 km. This article presents how the LoRa WAN network works and describes the installation of the research and measurement infrastructure in this technology which was built in the Gdańsk area using the Academic Computer Center TASK network infrastructure. The methodology and results of the qualitative and performance studies of the constructed network with the use of unmanned aircraft equipped with measuring devices for remote collection of environmental data are also presented. The LoRaWAN TASK has been designed to support the development of other research projects as an access infrastructure for a variety of devices. Registered users can attach their own devices that send specific metrics that are then collected in a cloud-based database, analyzed and visualized.