How to Choose the Right Heading Source for your Next PX4 Platform

An autonomous vehicle needs to estimate its orientation (tilt and heading) relative to a reference frame in order to navigate in its environment. The tilt can be inferred by measuring the gravity vector, which is normally not disturbed. The heading is obtained using a compass that measures the direction of the earth's magnetic field. However, this field is weak and easily disturbed by the environment (e.g. Reinforced concrete and generators) and the components of the vehicle (e.g. Motors and batteries). Recently, multi-antenna Global Navigation Satellite System (GNSS) receivers with heading information are getting more affordable and offer a robust alternative for some applications where magnetic field measurements cannot be trusted. Another alternative is the dynamic observation of the heading using a conventional GNSS receiver and an Inertial Measurement Unit (IMU). PX4 offers several solutions and the right one has to be carefully selected for a specific use case. In this talk, all the possible heading sources compatible with PX4 will be presented including advantages, drawbacks, configuration and specific examples.

Видео How to Choose the Right Heading Source for your Next PX4 Platform канала PX4 Autopilot - Open Source Flight Control.