İnsansız Hava Araçlarında (İHA) GPS ve IMU Sistem Performansının İncelenmesi

Yıl 2025, Cilt: 7 Sayı: 1, 25 - 42, 30.04.2025

Muammer Erbaş , Gülşah Demirhan Aydin

https://doi.org/10.46740/alku.1628988

Öz

Bu makale, İnsansız Hava Araçlarının (İHA) navigasyon ve kontrolünde Küresel Konumlama Sistemi (GPS) ve Ataletsel Ölçüm Birimi (IMU) teknolojilerinin kritik rolünü incelemektedir. GPS, hassas küresel konumlama sağlarken, IMU yüksek frekanslı hareket ve yönelim verileri sunar. Ancak, GPS sinyal kesintileri ve IMU kayması, özellikle dinamik görevlerde veya GPS erişiminin olmadığı ortamlarda zorluklar yaratmaktadır. Bu inceleme, navigasyon güvenilirliğini artırmak için Kalman filtresi ve makine öğrenimi gibi ileri seviye sensör füzyon teknikleri kullanılarak GPS ve düşük maliyetli IMU sistemlerinin entegrasyonunu ele almaktadır. Çalışmada ayrıca donanım gelişmeleri, uyarlanabilir algoritmalar ve sürü navigasyonu gibi gelecekteki yönelimler ele alınarak operasyonel zorlukların üstesinden gelinmesi ve İHA'ların çeşitli uygulamalardaki potansiyelinin açığa çıkarılması hedeflenmektedir.

Anahtar Kelimeler

İnsansız Hava Araçları , GPS , IMU , Sensör Füzyonu , Konum Doğruluğu , Sistem Performansı , Navigasyon

Review of GPS and IMU System Performance in Unmanned Aerial Vehicles (UAVs)

Öz

This paper reviews the pivotal role of Global Positioning System (GPS) and Inertial Measurement Unit (IMU) technologies in the navigation and control of Unmanned Aerial Vehicles (UAVs). GPS offers precise global positioning, while IMU provides high-frequency motion and orientation data. However, GPS signal interruptions and IMU drift pose challenges, particularly in dynamic or GPS-denied environments. This review explores the integration of GPS and low cost IMU systems through advanced sensor fusion techniques, such as Kalman filtering and machine learning, to enhance navigation reliability. Future directions, including advancements in hardware, adaptive algorithms, and swarm navigation, are discussed to address operational challenges and unlock the potential of UAVs in diverse applications.

Anahtar Kelimeler

UAVs , GPS , IMU , Sensor Fusion , Positioning Accuracy , System Performance , Navigation

Kaynakça

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