DOI 10.51955/23121327_2022_1_101

Andrei A. Sanko

Aliaksey A. Sheynikov

Gafur Sh. Tuganov

Abstract. The article presents the results of studies of distribution laws of output signals of microelectromechanical sensors used for platformless inertial navigation systems (INS) installed on lightweight unmanned aerial vehicles (UAV). As object of study, the GY-91 sensor was used which is made with the use of microelectromechanical technology and has an inertial measuring unit consisting of three elements located orthogonally: a turn meter, an accelerometer, a magnetometer and a single-channel barometer. Formulas for approximating the mean square deviations of overload, pitch angle and angular velocity indications for various test conditions are given. It is recommended to use the obtained dependences when calibrating accelerometers and angular velocity sensors. Recommendations on the use of different filtering methods depending on the distribution laws of the output parameters of the sensor are given. Various filters used for platformless INS sensors, such as the Kalman filter, the median filter, the AB filter and the complementary filter, are considered. A comparative analysis of algorithms for filtering the output signals of microelectromechanical sensors according to the value of signal-to-noise ratio for an aircraft-type UAV at different propeller speeds was performed. Recommendations are given on the use of the obtained research results for the algorithmic support of lightweight UAV navigation systems.

Key words: sensors, gyroscope, accelerometer, errors, distribution law.

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