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    題名: Design of a MEMS-Based Flight Information Measurement Unit for UAV Application
    作者: Shiau, Jaw-Kuen;Ma, Der-Ming;Wu, Tsung-Hsing;Huang, Li-Huei
    貢獻者: 淡江大學航空太空工程學系
    關鍵詞: flight information;inertial measurement;electronic compass;motion platform;MEMs sensor
    日期: 201104
    上傳時間: 2013-03-20 16:29:33 (UTC+8)
    出版者: Manchester: Scholarlink Resource Centre Ltd.
    摘要: Obtaining precise attitude information is essential for aircraft navigation and control. This paper presents the results of the attitude determination using an in-house designed low-cost MEMS-based flight information measurement unit. This study proposes a quaternion-based extended Kalman filter to integrate the traditional quaternion and gravitational force decomposition methods for attitude determination algorithm. The proposed extended Kalman filter utilizes the evolution of the four elements in the quaternion method for attitude determination as the dynamic model, with the four elements as the states of the filter. The attitude angles obtained from the gravity computations and from the electronic magnetic sensors are regarded as the measurement of the filter. The immeasurable gravity accelerations are deduced from the outputs of the three axes accelerometers, the relative accelerations, and the accelerations due to body rotation. The constraint of the four elements of the quaternion method is treated as a perfect measurement and is integrated into the filter computation. Approximations of the time-varying noise variances of the measured signals are discussed and presented with details through Taylor series expansions. The algorithm is intuitive, easy to implement, and reliable for long-term high dynamic maneuvers. Moreover, a set of flight test data is utilized to demonstrate the success and practicality of the proposed algorithm and the filter design.
    關聯: Journal of Emerging Trends in Engineering and Applied Sciences 2(2), pp.190-197
    顯示於類別:[航空太空工程學系暨研究所] 期刊論文

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