Small UAV automation using MEMS

被引：49

作者：

Jang, Jung Soon ^{[1
]}

Liccardo, Darren ^{[1
]}

机构：

[1] Crossbow Technol Inc, San Jose, CA 95134 USA

来源：

IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE | 2007年 / 22卷 / 05期

关键词：

D O I：

10.1109/MAES.2007.365332

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper presents a framework for the automation of a small UAV using a low cost sensor suite, MNAV, and an embedded computing platform, Stargate, which together provide a complete avionics package for aerial robotic applications. In order to provide a complete INS solution (i.e., attitude, velocity, position, and biases), an extended Kalman filter algorithm is developed and implemented in real-time. A devised control strategy utilizes multiple PID loops with a hierarchy enabling simple attitude stabilization to full waypoint navigation. The developed ground station unit, a laptop computer, communiates with the avionics package via 802.11b WiFi, displays the aircraft critical information, provides in-flight PID gain tunings, and uploads waypoints through a simple GUI. The system is installed in an off-the-shelf delta-wing R/C aircraft and demonstrates its performance for aerial robotic applications.

引用

页码：30 / 34

页数：5