Development of a precise and robust INS/GPS navigation system using low cost MEMS sensors dedicated to autonomous multirotor applications
ARA Robotique is a company specialized in the development of a state-of-art flight controller for light multirotor UAV. One of the critical subsystems of a flight controller is its navigation system which measures the position and the orientation of the vehicle which is then used to ensure the flight stability and to operate the UAV. To complete its flight controller design, ARA Robotique is interested in developing a robust and accurate Inertial Navigation System (INS) based on low cost Microelectromechanical system (MEMS) technology. The disadvantage with low cost inertial sensors is that their measurements are affected by deterministic errors and stochastic noise that causes the INS solution to diverge rapidly. The goal of the project is to design an aiding system based on the Extended Kalman filter to combine the INS with Global Navigation Satellite System (GNSS) signal to ensure convergence and elimination of the measurement noise.