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2013•Journal of Central South University(Science and Technology)Requires access

Micro attitude and heading reference system for unmanned aerial vehicles

Meihui Cao

Open publisher page 2 citations

Abstract

A micro attitude and heading reference system(AHRS) is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles(UAV).One main drawback associated with the MEMS attitude senor is the drifting issue,which makes that the raw date can not be used directly in the flight control.A quaternion attitude compensation algorithm based on gradient descent method is developed to process the raw data from MEMS sensors,and then high accurate attitude measurements including pitch angle,roll angle and yaw angle are obtained.Experiment results show that the proposed algorithm and the AHRS can obtain high accurate attitude measurements.

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What this paper is about

A micro attitude and heading reference system(AHRS) is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles(UAV).One main drawback associated with the MEMS attitude senor is the drifting issue,which makes that the raw date can not be used directly in the flight control.A quaternion attitude compensation algorithm based on gradient descent method is developed to process the raw data from MEMS sensors,and then high accurate attitude measurements including pitch angle,roll angle and yaw angle are obtained.Experiment results show that the proposed algorithm and the AHRS can obtain high accurate attitude measurements.

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Available abstract

A micro attitude and heading reference system(AHRS) is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles(UAV).One main drawback associated with the MEMS attitude senor is the drifting issue,which makes that the raw date can not be used directly in the flight control.A quaternion attitude compensation algorithm based on gradient descent method is developed to process the raw data from MEMS sensors,and then high accurate attitude measurements including pitch angle,roll angle and yaw angle are obtained.Experiment results show that the proposed algorithm and the AHRS can obtain high accurate attitude measurements.

Key concepts: Attitude and heading reference system, Heading (navigation), Attitude control, Quaternion, Euler angles, Compensation (psychology), Microelectromechanical systems, Process (computing)

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