COMPACT ATTITUDE SENSOR SYSTEM USING SR-UKF NSF Summer Undergraduate Fellowship in Sensor Technologies
نویسندگان
چکیده
This paper describes the selection and integration of attitude sensors for a novel flying device. The overall goal of the experimental flyer project is to create a small, cheap, and lightweight device that is capable of controlled flight. This project focuses on the development of a state estimation system for the flyer that allows for precise and rapid attitude measurement. A sensor package consisting of a three-axis magnetometer, a three-axis accelerometer, and three one-axis rate gyroscopes is presented. The sensor measurements are filtered and fused together using a Square-Root Unscented Kalman Filter (SR-UKF) developed in MATLAB. The feasibility of porting the filter to a Microchip dsPIC30F microcontroller is discussed, and the performance of the filter is evaluated.
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