Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data

被引：11
作者：
Armanini, S. F. [1 ]
Karasek, M. [1 ]
de Croon, G. C. H. E. [1 ]
de Visser, C. C. [1 ]
机构：
[1] Delft Univ Technol, Fac Aerosp Engn, Control & Simulat Sect, Kluyverweg 1, NL-2629 HS Delft, Netherlands
来源：
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2017年 / 40卷 / 08期
关键词：
HOVERING INSECT FLIGHT; MODEL IDENTIFICATION; AERODYNAMICS; KINEMATICS; STABILITY; VEHICLES; DYNAMICS;
D O I：
10.2514/1.G002527
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
A study proposes a sensor fusion-based method for the acquisition of accurate free-flight data for flapping-wing vehicles. Fusion of onboard inertial measurement unit (IMU) data and offboard optical tracking data is suggested as an approach to obtain high-quality more reliable measurements that are also accurate at high frequencies and can be used for in-depth analysis of time-resolved flapping effects in free flight and during maneuvers. The study demonstrates that IMU sensors have a high bandwidth, which allows for high-frequency measurements. It is suggested that combining the approaches will yield more accurate and reliable data than either of the two approaches alone and, in particular, data providing insight into what is happening during each flap cycle.
引用
收藏
页码：2121 / 2132
页数：12
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