Long Term Quadrotor Stabilization

Abstract

The work of this thesis focuses on the IMU and getting the best performance possible out of the IMU to achieve better long term stability and a better navigation solution. This is done in two ways. First, the IMU accelerometer output is examined to determine if it is possible to use accelerometers to determine attitude. If the quadrotor is stationary or moving at constant velocity, the roll and pitch angles can be determined. Additionally, the accelerometers can be used to determine angular accelerations and angular rates which are integrated to determine heading. The second approach models the quadrotor and uses the models in Kalman Filters along with the IMU measurements to determine the best possible navigation solution.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2011
Accession Number
ADA540358

Entities

People

  • Nicolas Hamilton

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Advanced Electronics
  • Energy and Power Technologies
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Aircrafts
  • Analysis Of Variance
  • Angular Acceleration
  • Control Systems
  • Department Of Defense
  • Detection
  • Field Programmable Gate Arrays
  • Global Navigation Satellite Systems
  • Global Positioning Systems
  • Governments
  • Inertial Measurement Units
  • Measurement
  • Microelectromechanical Systems
  • Navigation
  • United States Government
  • Unmanned Aerial Vehicles

Readers

  • Geodesy
  • Robotics and Automation.