Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV
نویسندگان
چکیده
منابع مشابه
Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV
This paper addresses the problem of attitude and heading restitution for a VTOL UAV. We describe an observation strategy to restitute the complete attitude matrix of the vehicle starting from Inertial Measurement Unit (IMU) and magnetometers. This study is a part of the development of the ducted fan UAV designed by Bertin Technologies. First, a measured orientation matrix is calculated from bot...
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The theoretical challenge involved in the operation of VTOL UAVs is often divided into two main problems. The first problem involves the development of an estimation scheme which can accurately recover the orientation, or angular position, of the aircraft. The second problem involves the development of algorithms which can be used to reliably control the orientation and/or the position of the v...
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Due to their ability to hover and to fly “low and slow” VTOL UAVs are of extreme strategic importance. The task of control of VTOL UAVs is however complicated as they exhibit highly coupled nonlinear dynamics and inherent instability. These intricacies limit the performance of linear control techniques since a single linearized state space model represents only a limited part of the flight enve...
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____________________________________________________________________________________ i Resumo ____________________________________________________________________________________ ii Acknowledgements __________________________________________________________________________ iii List of Figures _______________________________________________________________________________ vi List of Tables _____...
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ژورنال
عنوان ژورنال: International Journal of Systems Science
سال: 2007
ISSN: 0020-7721,1464-5319
DOI: 10.1080/00207720601110798