Miniaturní navigační systém pro bezpilotní létající prostředky

Abstract

This diploma thesis will outline the design and programming of an Inertial Navigation System, dubbed Mini-INS. The completed system will, like most INS platforms, provide as output the 9-DOF state of a host vehicle in terms of Position, Velocity and Attitude (PVA). Specifically, the implementation will focus on the navigational requirements of Unmanned Aerial Systems (UAS). However, no discrimination shall be made on flight mechanics, meaning that the Mini-INS should be a thorough plug-and-play solution for any aerial or land vehicle, be it a fixed-wing drone, a multi-copter, or a caterpillar tracked robot. In the context of this implementation, the system is designed and manufactured from top to bottom. This includes the hardware design of a schematic, its realization on a Printed Circuit Board (PCB), and its programming so that it may execute the functions of an INS. The primary objective, as the title suggests, is to build a navigation system for use by small unmanned vehicles. As a consequence, the focus of the design will be to minimize the size of the PCB footprint, as well as the board's total power consumption. To achieve this, the board utilizes a combination of MEMS sensors and a low-power ARM microprocessor.This diploma thesis will outline the design and programming of an Inertial Navigation System, dubbed Mini-INS. The completed system will, like most INS platforms, provide as output the 9-DOF state of a host vehicle in terms of Position, Velocity and Attitude (PVA). Specifically, the implementation will focus on the navigational requirements of Unmanned Aerial Systems (UAS). However, no discrimination shall be made on flight mechanics, meaning that the Mini-INS should be a thorough plug-and-play solution for any aerial or land vehicle, be it a fixed-wing drone, a multi-copter, or a caterpillar tracked robot. In the context of this implementation, the system is designed and manufactured from top to bottom. This includes the hardware design of a schematic, its realization on a Printed Circuit Board (PCB), and its programming so that it may execute the functions of an INS. The primary objective, as the title suggests, is to build a navigation system for use by small unmanned vehicles. As a consequence, the focus of the design will be to minimize the size of the PCB footprint, as well as the board's total power consumption. To achieve this, the board utilizes a combination of MEMS sensors and a low-power ARM microprocessor.