Embedded Attitude Estimation System for Quad-Rotor UAVs

被引：0
|
作者：
Wu, Jingran [1 ]
Sun, Zhenguo [1 ]
Ma, Qidong [1 ]
Zhang, Wenzeng [1 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China
来源：
MECHATRONICS AND INDUSTRIAL INFORMATICS, PTS 1-4 | 2013年 / 321-324卷
关键词：
Attitude Estimation; Complementary Filter; MEMS Sensors; Quad-Rotor UAV;
D O I：
10.4028/www.scientific.net/AMM.321-324.528
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
An embedded attitude estimation system is developed for the autonomous flight of Quad-Rotor UAVs. The system hardware is composed of a DSP processor and low-cost MEMS sensors including a 3-axis gyroscope and a 3-axis accelerometer. A Complementary Filter fused the advantages of the gyroscope and accelerometer is designed and embedded on the DSP processor to estimate the real-time attitude. Ground testing experiments show that the system could meet the accuracy and robustness requirements for the Quad-Rotor UAVs attitude estimation.
引用
收藏
页码：528 / 531
页数：4
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