Title :
An attitude estimation system for Pan&Tilt system
Author :
Zhenbang, Gong ; Tongyue, Gao ; Jinjun, Rao ; Jun, Luo ; Xinwen, Gao
Author_Institution :
Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai, China
Abstract :
An attitude estimation of Pan & Tilt system for the small unmanned aerial vehile (SUAV) was gotten by the extended Kalman arithmetic. In order to improve the available payload of SUAV, The MEMS sensors are selected to design the system. Firstly, the magnetometer was compensated with environment disturb magnetic field. Secondly, a new KALMAN arithmetic was put forward basing on analyzing several kinds of sensors. Furthermore, the Extended KALMAN was gotten through linearization and discretion. Finally, The testings verify the attitude sensors system has a good performance in static and dynamic states, and totally satisfies the requirement of the Pan&Tilt system for SUAV.
Keywords :
aerospace instrumentation; attitude measurement; magnetometers; micromechanical devices; remotely operated vehicles; MEMS sensors; attitude estimation system; attitude sensors system; extended Kalman arithmetic; magnetic field; magnetometer; pan & tilt system; small unmanned aerial vehile; Arithmetic; Kalman filters; Magnetic analysis; Magnetic fields; Magnetic sensors; Magnetometers; Micromechanical devices; Payloads; Sensor systems; System testing; Pan & Tilt; attitude estimation; extended Kalman;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vi a del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472445
