Vibration Isolation and Prefiltering on Strapdown Inertial Sensor Mini UAV-Proto2

Abstract

This paper is about experimental report of a design test process. The design goal is canceling vibration effects on strapped down inertial sensor system implemented on small sized unmanned aerial vehicle–Proto2 which being developed under Center of Unmanned System Studies (CentRUMS) in ITB. Vibration is one of the main sources of false inertial sensor data reading concerning aliasing possibility and data truncation when sensor capability range is over-limited by the magnitude of vibration excitation. This leads to attitude determination error and navigation failure, thus vibration isolation and cancellation is very critical to the performance of an autonomous vehicle system. Vibration excitation sources are the engine due to combustion process and the propeller imbalance. Design solution has to be practical with low cost consideration as well. Through configuring an optimal passive damper to be used as vibration absorber for the mounting arrangement and electrical analog filtering prior to sensor reading–data prefiltering the experimental result shows that passive damper is sufficiently enough to be able to attenuate the vibration amplitudes up to 50% and electrical filter is able to create an anti aliasing in sensor reading.