CRIS Current Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn this paper we consider the design and the exper- imental validation of an attitude and heading reference system for a miniature aerial robot prototype based on measurements obtained from a low cost off-the-shelf inertial measurement unit. Different estimation algorithms to process the raw inertial data are implemented and validated in real indoor flight tests by employing, as a reference, the accurate attitude estimation obtained from a vision based motion tracking system. The proposed experiments allow to accurately evaluate the perfor- mance of the different estimation algorithms and the effects of disturbances, such as vehicle accelerations, vibrations and non ideal magnetic fields, in a typical scenario of application for the considered unmanned vehicle prototype.
| Titolo: | Design and validation of an attitude and heading reference system for an aerial robot prototype |
| Autore/i: | MILOSEVIC, BOJAN; NALDI, ROBERTO; FARELLA, ELISABETTA; BENINI, LUCA; MARCONI, LORENZO |
| Autore/i Unibo: | |
| Anno: | 2012 |
| Titolo del libro: | Proceeding of the 2012 American Control Conference |
| Pagina iniziale: | 1720 |
| Pagina finale: | 1725 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ACC.2012.6314975 |
| Abstract: | In this paper we consider the design and the exper- imental validation of an attitude and heading reference system for a miniature aerial robot prototype based on measurements obtained from a low cost off-the-shelf inertial measurement unit. Different estimation algorithms to process the raw inertial data are implemented and validated in real indoor flight tests by employing, as a reference, the accurate attitude estimation obtained from a vision based motion tracking system. The proposed experiments allow to accurately evaluate the perfor- mance of the different estimation algorithms and the effects of disturbances, such as vehicle accelerations, vibrations and non ideal magnetic fields, in a typical scenario of application for the considered unmanned vehicle prototype. |
| Data prodotto definitivo in UGOV: | 12-ott-2014 |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11585/119616
Copyright © 2021