Title :
A low-cost and low-weight attitude estimation system for an autonomous helicopter
Author :
Baerveldt, Albert-Jan ; Klang, Robert
Author_Institution :
Center for Comput. Syst. Archit., Halmstad Univ., Sweden
Abstract :
In this paper a low-cost and low-weight attitude estimation system for an autonomous helicopter is presented. The system is based on an inclinometer and a rate gyro. The data coming from the sensors is fused through a complementary filter. In this way the slow dynamics of the inclinometer can be effectively compensated. Tests have shown that a very effective attitude estimation system can be achieved
Keywords :
aircraft control; attitude control; filtering theory; gyroscopes; helicopters; parameter estimation; sensor fusion; attitude estimation system; autonomous helicopter; complementary filter; inclinometer; rate gyro; sensor fusion; transfer function; Attitude control; Bandwidth; Control systems; Filters; Goniometers; Helicopters; Inspection; Mechanical sensors; Power system modeling; System testing;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632450
