Inertial Attitude and Position Reference System Development for a Small UAV

Abstract

This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) sensor. The attitude estimates are obtained from a complementary filter and a Kalman filter by combining the measurements from the inertial sensors with the supplementary attitude information from GPS. A method is proposed to deal with the GPS data latency and momentary outages. The inertial position is estimated from a separate Kalman filter that is cascaded after the attitude filters in order to reduce the computational overhead. Numerical simulation results and hardware validation show that this is a simple, yet effective method for attitude and position estimation, suitable for real-time implementation on a small UAV.

On the Routing in Flying Ad hoc Networks

“…In DSDV, each node saves a routing table (with sequence number) for all other nodes, not just for the neighbor nodes [26]. Whenever the topology of the network changes, these changes are circulated by the protocol to update devices.…”

Robust Controller Design for Attitude Dynamics Subjected to Time-Delayed State Measurements

“…Low-rate sensors can contribute with delays as well, as in the case of star trackers, which may need up to ten seconds to identify stars [21]. Global Positioning System (GPS) also causes sensing delays due to data latency and momentary outages while evaluating satellite position in orbit [12], [10].…”

The Navigation and Control technology inside the AR.Drone micro UAV

“…They are in fact estimated and compensated thanks to the vision system as presented in Section 4. Under this assumption, various algorithms for attitude estimation can been considered: Kalman filter, extended Kalman filter (see Vissière [2008]) or complementary filter in both linear and nonlinear implementations (see Mahony et al [2005], Metni et al [2006], Jung and Tsiotras [2007], Mahony et al [2008], Martin and Salaün [2008]). …”