Comparison of Parameters of Inertial Measurement Units Suitable for Unmanned Aerial Vehicle Control

The article discusses the comparison of sensor parameters of selected inertial measurement units (IMUs) used in control modules of small unmanned aircraft (UAVs). The comparison of stochastic parameters of individual IMU sensors was conducted using the Allan variance, and deterministic parameters were evaluated using the six-position method. The module was selected for the given analysis MNAV100CA from Crossbow and Pixhawk PX4 autopilot. The comparison was based on measured data during static measurements. The level of errors in sensors can disrupt or reduce the stability and controllability of the UAV in autonomous control mode. The analyzed parameters of individual sensors can subsequently be used for designing a suitable integration architecture using Kalman filters to eliminate noise processes from sensor measurements in the control process.