Open Access Open Access  Restricted Access Subscription Access

Development of a Small-Scale, Light Weight, and Versatile Attitude Sensor

M. Tawara

Abstract


An attitude sensor mounted on an unmanned system requires to have high accuracy in attitude estimation under a dynamic acceleration environment for autonomous attitude control. To estimate the attitude, an attitude sensor needs to detect the direction of gravity from measured accelerations, which include dynamic accelerations. In this paper, two attitude estimation algorithms with quaternions based on the extended Kalman filter are described and compared. The comparison indicates that one of the algorithms is well suited to a dynamic acceleration environment for unmanned systems.

Full Text:

PDF

References


K. Nonami, F. Kendoul, S. Suzuki, W. Wang, D. Nakazawa, 2011, Autonomous Flying Robots - Unmanned Aerial Vehicles and Micro Aerial Vehicles, Springer Japan.

B. Mettler, M.B. Tischler, and T. Kanade, 2002, System identification modeling of a small-scale unmanned rotorcraft for flight control design, Journal of the American Helicopter Society, Vol. 47, No. 1, pp. 50-63.

P. Castillo, A. Dzul, and R. Lozano, 2004, Real-time stabilization and tracking of a four-rotor mini rotorcraft, Control Systems Technology, IEEE Transactions on, Vol. 12, No. 4, pp. 510-516.

P. Abbeel, A. Coates, M. Quigley, and A.Y. Ng, 2007, An application of reinforcement learning to aerobatic helicopter flight, Advances in Neural Information Processing Systems 19: Proceedings of the 2006 Conference,

pp. 1-8.

J. Shin, D. Fujiwara, K. Hazawa, and K. Nonami, 2002, Attitude Control and Hovering Control of Radio-Controlled Helicopter, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 68, No. 675, pp. 3284-3291.

D. Fujiwara, J. Shin, K. Hazawa, and K. Nonami, 2004, H ∞ Hovering and Guidance Control for Autonomous Small-Scale Unmanned Helicopter, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 70,No. 694,pp. 1708-1714.

D. Iwakura, W. Wang, K. Nonami, and M. Haley, 2010, Precise Landing of Quad-rotor MAV with Movable Outer Sensors, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 76,No. 761,pp. 61-68.

S. Suzuki, M. Tawara, D. Nakazawa, and K. Nonami, 2008, Research on Attitude Estimation Algorithm under Dynamic Acceleration, Journal of he Robotics Society of Japan, Vol. 26, No. 6, pp. 626-634.

S. Suzuki, D. Nakazawa, K. Nonami, and M. Tawara, 2010, Attitude Control of Small Electric Helicopter by Using Quaternion-Feedback, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 76, No. 761, pp. 51-60.

A.M. Sabatini, 2006, Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing, Biomedical Engineering, IEEE Transactions on, Vol. 53, No. 7, pp. 1346-1356.

H. Rehbinder, X. Hu, 2004, Drift-free attitude estimation for accelerated rigid bodies, Automatica, Vol. 40, No. 4, pp. 653-659.

J. B. Kuipers, 2002, Quaternions and Rotation Sequences: A Primer With Applications to Orbits, Aerospace, and Virtual Reality, Princeton Univ Pr.

Robert M. Rogers, 2003, Applied Mathematics in Integrated Navigation Systems (Aiaa Education Series), Amer Inst of Aeronautics and Astronautics.

T. Katayama, 2000, Applied Kalman new edition (in Japanese), Asakura Publishing Co. Ltd.

Crossbow Technology Inc., 2011, Crossbow Technology, maker of high-accuracy inertial systems and GPS asset visibility/Asset Tracking products, Crossbow Technology, http://www.xbow.com/index.html.




DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.391

Refbacks

  • There are currently no refbacks.