Attitude Estimation and Control of a Hovering Mini-Aerial Vehicle

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Authors
  1. Bilodeau, P.-R.
  2. Poulin, É.
  3. Wong, F.
  4. Gagnon, É.
Corporate Authors
Defence R&D Canada - Valcartier, Valcartier QUE (CAN)
Abstract
This paper presents the flight performance obtained by a mini fixed wing air vehicle that is equipped with an on-board embedded system running simple control and non-commercial attitude estimation algorithms that process positional data from low-cost sensors. A complementary filter based on quaternions was implemented. Data from three-axis accelerometers and rate gyros were used for attitude estimation while a range-finder sonar was used for altitude measurement. Proportional-integrator-derivative regulators were selected for attitude and altitude control. Controller tuning was achieved using a frequency domain method based on the Nichols chart. Flight testing of the control hardware and algorithms showed that body attitudes could be maintained within ±3° of the desired setpoint and that the vehicle altitude could be maintained within ±10cm of the desired altitude with a decoupler.
Report Number
DRDC-VALCARTIER-SL-2010-469 — Scientific Literature
Date of publication
13 Sep 2010
Number of Pages
8
DSTKIM No
CA035184
CANDIS No
534725
Format(s):
Electronic Document(PDF)

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