Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

Figure 3.46 shows the modeled fluctuation of position over a 2 hour period assumingthe sensor is stationary at (0,0).Figure 3.46 – GPS Model Results3.4.4 Magnetometer IdentificationIdentification of the magnetometers used for heading determination was performed onthe Honeywell HMC 2003 used on the OAV. The magnetometers were modeled with amax noise of 0.001 gauss, and a small Hysteresis 0.002 gauss wide. The only otherspecification modeled was the 40 microgauss resolution specified by Honeywell. Figure3.47 shows the model, while Figure 3.48 depicts a 5 sec reading at 5 gauss.- 101 -