Field Programmable Gate Array-Based Attitude Stabilization

Abstract

A system for determining vehicle attitude using a field programmable gate array (FPGA) and low cost gyroscopes is presented. The method is intended to support the stabilization of a short duration, unmanned aerial vehicle. Using a microelectronmechanical system (MEMS) inertial sensor for the calibration and serial interface, the algorithm sidesteps concerns related to electronmagnetic interference and the impact of embedded, proprietary filters. An Allan variance analysis is used to characterize the sensor errors and predict system performance. A floating point representation using a direction cosine matrix is hosted on the FPGA alongside the platform stabilization feedback loops. Although prone to drifting without additional aiding, the derived attitude has been demonstrated to be effective in stabilizing a remotely piloted quadrotor.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jul 01, 2008
Accession Number
ADA486096

Entities

People

  • Frank Van Graas
  • Maarten Uijt De Haag
  • Michael J. Stepaniak

Organizations

  • Ohio University

Tags

Communities of Interest

  • Advanced Electronics
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Aircrafts
  • Algorithms
  • Analysis Of Variance
  • Control Systems
  • Coordinate Systems
  • Data Rate
  • Engineering
  • Euler Angles
  • Field Programmable Gate Arrays
  • Flight Control Systems
  • Global Positioning Systems
  • Inertial Navigation Systems
  • Measurement
  • Microelectromechanical Systems
  • Unmanned Vehicles

Readers

  • Computational Modeling and Simulation
  • Control Systems Engineering.
  • Integrated Circuit Design and Technology.

Technology Areas

  • Autonomy