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Meeting	ACGS Committee Meeting 102 - Niagara Falls - October 2008
Agenda Location	6 SUBCOMMITTEE C - AVIONICS AND SYSTEM INTEGRATION 6.2 Robust Navigation and Attitude Determination Systems for Unmanned and Micro Aerial Vehicle Applications
Title	Robust Navigation and Attitude Determination Systems for Unmanned and Micro Aerial Vehicle Applications
Presenter	Demoz Gebre-Egziabher
Affiliation	University of Minnesota
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Appropriately instrumented Uninhabited Aerial Vehicles (UAVs) or Micro Aerial Vehicles (MAVs) are being considered for use in many civilian remote sensing applications. Accurate attitude determination (i.e., orientation in three-dimensional space) and navigation is an indispensable requirement for these applications. Constraints on sensor size, weight and power consumption, however, makes the use of traditional attitude determination solutions impractical in these UAV and MAV applications. Conventional GPS solutions are also not sufficient for operations in urban canyons or indoor environments. In this presentation, issues associated with the design of attitude determination and navigation systems for miniature aerial vehicles are discussed. The focus will be on algorithms and simulation tools used to design multi-sensor attitude determination and navigation systems. The tradeoffs involved in mechanizing these algorithms using different sensor fusion schemes will be discussed. It will be shown that system observability (hence, accuracy), simplicity, weight and power consumption are competing attributes when designing these attitude determination and navigation systems for UAV and MAV applications. Finally, simulation tools based on the open source flight simulator software FlightGear will be discussed and demonstrated.