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From: | Prof. Dr.-Ing. Heinrich Warmers |
Subject: | Re: [Paparazzi-devel] RTK DGPS |
Date: | Sun, 01 Jul 2012 15:19:30 +0200 |
User-agent: | Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax) |
Dear Chris, the project don't work with GPS carrier phase. It works with a lot of Kalman filtering of the rover (moving part) and the fixed part. pseudo ranges and clock errors. The typical error was in the 50cm range wiht the old ublox sam-ls modules. The fusion with IMU sensors information's will get a better solution even for normal wing configurations and abrupt flight manoeuvres. This kind of work was done by Dr. Winkler Dissertation „Multi-sensor Data Fusion for Integrated Navigation Systems of Small Unmanned Aircraft / Zur Sensordatenfusion für integrierte Navigationssysteme unbemannter Kleinstflugzeuge“ The first versions of kinematics we use, where written in the Japan languages but currently they wrote also a English description. Or work was written in German but the figures and schematics are self declaring. So i will you send an copy to you to. For the use with Paparazzi we have to use a power micrcontroller like the STM32F4. I am wokring wiht this processor. An ollimex arduino pcb is going on for 30 Euros (STM32F4-Discovery about 15 Euros). Heinrich Therfore more information of errors Chris Gough schrieb:
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