Earticle

초록

영어

Controlling UAV requires high-precision dynamic information input. However, mini UAV needs more demands because of the its small volume. Using MEMS sensor can make the UAV become high-precision, low power consumption and inexpensive machine. In this research, the core part is focusing on STM32F405, designing and implement the attitude and heading reference system (AHRS) based on 3-axis MEMS gyroscope, 3-axis MEMS accelerometer and magnetometer. Quaternion Kalman filter has been adopted in this study in order to achieve the attitude measurement and error control of transporter.

목차

Abstract
 1. Introduction
 2. System Architecture
  2.1. Hardware Architecture of AHRS
  2.2. Coordinate Frame and Attitude Angle Estimation
 3. Attitude Calculation
  3.1 Initial Value of the Quaternions
  3.2. Direction Transformation Matrix
  3.3. Update Attitude Based on Quaternion Differential Equations
  3.4. Runge Kutta Algorithms
 4. Kalman Filter Algorithms
  4.1. State Equation
  4.2. Observations Update Equation :
  4.3. Kalman Filter Iteration
 5. Simulation and Analysis
 6. Conclusion
 Acknowledgements
 References

키워드

저자

• Zhongbin Su [ School of Electrical and Information Northeast Agricultural University, Harbin, 150030, China ]
• Lei Yang [ School of Electrical and Information Northeast Agricultural University, Harbin, 150030, China ]
• Qingming Kong [ School of Electrical and Information Northeast Agricultural University, Harbin, 150030, China ]
• Lei Hong [ School of Electrical and Information Northeast Agricultural University, Harbin, 150030, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605