NDLI: Towards Guidance Chip for Micro Aerial Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Afzal, M.H. Asif, M. Khan, M.A.
Copyright Year	2006
Description	Author affiliation: Nat. Eng. & Sci. Comm., Islamabad (Afzal, M.H.; Asif, M.; Khan, M.A.)
Abstract	Autonomous aerial vehicles need to navigate as well as control themselves in real time without any human intervention. This requirement imposes an immense pressure on the processing powers as well as the accuracy of sensors used for navigation. Micro aerial vehicles (MAVs) have payload and power constraints that prohibit use of highly accurate sensors and powerful processors. This paper presents implementation of an attitude and heading reference system (AHRS) using low cost micro electro mechanical system (MEMS) sensors and field programmable gate array (FPGA). This hardware implementation of AHRS has enabled us to achieve attitude update rate of 20.0 micro seconds necessary for high speed control loop with power consumption of 110 mW. The target FPGA used for this work is Xilinx Spartan III x3csl500 which provides sufficient logic for implementation of AHRS algorithm. The work presented here is the first step towards a dedicated guidance chip for MAVs that will be able to navigate as well as control an MAV autonomously. Simulation and hardware implementation results were compared with Crossbow's AHRS400 which show that the design is suitable for implementing AHRS for MAVs and small unmanned aerial vehicles (UAVs).
Starting Page	1576
Ending Page	1581
File Size	5638522
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340179
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Unmanned aerial vehicles Remotely operated vehicles Mechanical sensors Sensor arrays Field programmable gate arrays Hardware Mobile robots Humans Payloads Guidance Chip Micro Aerial Vehicles Attitude and Heading Reference System Field Programmable Gate Array
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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