NDLI: Design and implementation of low cost integrated navigation system for mini autonomous helicopter

Content Provider	IEEE Xplore Digital Library
Author	Yu Xu Qinyuan Ren Wenda Sun Ping Li
Copyright Year	2010
Description	Author affiliation: Department of Control Science and Engineering, Zhejiang University, Hangzhou, China (Qinyuan Ren; Wenda Sun) \|\| School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, China (Yu Xu; Ping Li)
Abstract	A low cost integrated navigation system based on cascaded coupled architecture was developed for mini autonomous helicopter. A novel linear attitude fusion algorithm was introduced to fuse gyros' output with accelerometers' gravity observation and magnetometers' magnetic observation, and the estimation errors were proven to be bounded. By considering the measurement delay of GPS, the velocity and position were estimated from previous attitude estimation, accelerometer measurement and delayed GPS measurement using two cascaded complementary filters. Finally the terrain clearance was derived from ultra sonic ranger finder and vertical velocity estimation by method combined of outlier rejection and reset. The experimental results have shown that the flight state estimations from the proposed navigation system possess excellent static accuracy and dynamic performance, and can fully meet the requirements of mini autonomous helicopter.
Starting Page	6842
Ending Page	6847
File Size	816447
Page Count	6
File Format	PDF
ISBN	9781424467129
e-ISBN	9781424467129
DOI	10.1109/WCICA.2010.5554212
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Aircraft navigation Helicopters Position measurement Micromechanical devices Extraterrestrial measurements Velocity measurement complementary filter mini autonomous helicopter cascaded integrated navigation attitude determination
Content Type	Text
Resource Type	Article

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