ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-N09
会議情報

高磁界環境下における小型UAVのRTK-GNSSを用いた方位角推定
足立 智貴*松尾 一毅鈴木 太郎天野 嘉春堤 則彦甘利 治雄鎌原 健志
著者情報
会議録・要旨集 認証あり

詳細
抄録

This paper describes a method of azimuth angle estimation using RTK-GNSS and gyroscope on a small unmanned aerial vehicle (UAV). Recently, a power line and steel tower inspection using UAV is attracted at electric power companies. However, azimuth angle cannot be estimated due to the high magnetic field in the vicinity of the power line. We propose a method to estimate azimuth angle by combining RTK-GNSS and gyroscope with Kalman filter. As a result, the proposal method has the same azimuth angle estimation accuracy as the method using the magnetic sensor in the static test. In the high magnetic field environment, the proposed method could stably estimate the azimuth angle. We implemented an autonomous flight test with a UAV incorporating our proposed method. As a result, even during the flight, the proposed method was able to estimate the azimuth angle equivalent to that using a magnetic sensor.

著者関連情報
© 2019 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top