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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
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