摘要：AbstractMulticopters are becoming a major tool for diverse industrial outdoor usecases, requiring accurate absolute and relative localization and control. Robust and high-rate state estimation is therefore crucial, even in the event of poor reception of global navigation satellite systems (GNSS). To overcome this problem, this paper addresses the implementation and validation of a tightly-coupled fusion of GNSS and inertial sensors for micro aerial vehicles. The targeted experimental quadcopter provides an industrial-class inertial measurement unit and a multi-frequency GNSS receiver. The sensorfusion including initialization and parameterization is explained in detail, and practical implementations are given. The work focuses on outdoor validation tests using a highly accurate optical tracking system as reference. Results show an absolute horizontal position error of below 1 m and low standard deviations of 5 cm for horizontal position, 0.15 m/s for velocity, and 1° for orientation errors. Moreover, a comparison with a loosely-coupled filter using Real-Time-Kinematic (RTK) measurements is given, demonstrating the potential of further research when exploiting the advantages of both approaches.
