Verification of a special inertial measurement unit using a Quadrotor aircraft

被引：1

作者：

Flores-Abad, Angel ^{[1
]}

Xie, Pu ^{[1
]}

Martinez-Arredondo, Gabriela ^{[2
]}

Ma, Ou ^{[1
]}

机构：

[1] New Mexico State Univ, Las Cruces, NM, Mexico

[2] Tenol Monterrey, Mechatron Dept, Monterrey, Mexico

来源：

INTERNATIONAL JOURNAL OF INTELLIGENT UNMANNED SYSTEMS | 2014年 / 2卷 / 01期

关键词：

IMU; Quadrotor; UAVs;

D O I：

10.1108/IJIUS-03-2013-0016

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Purpose - Calibration and 6-DOF test of a unique inertial measurement unit (IMU) using a Quadrotor aircraft. The purpose of this paper is to discuss the above issue. Design/methodology/approach - An IMU with the special capability of measuring the angular acceleration was developed and tested. A Quadrotor aircraft is used as 6-DOF test platform. Kinematics modeling of the Quadrotor was used in the determination of the Euler angles, while Dynamics modeling aided in the design the closed loop controller. For safety, the flight test was performed on a 6-DOF constrained reduced-gravity test stand. Findings - The developed IMU is suitable for measuring states and its time derivatives of mini UAVs. Not only that but also a simple control algorithm can be integrated in the same processing unit (a 32 microcontroller in this case). Originality/value - The tested IMU as well as the safety constrained test techniques are unique.

引用

页码：40 / 55

页数：16

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