Title :
Sensor data fusion for attitude stabilization in a low cost Quadrotor system
Author :
Chan, Ling ; Tan, Su-Lim ; Kwek, Chu-Lih
Author_Institution :
Sch. of Comput. Eng., Nanyang Technol. Univ., Singapore, Singapore
Abstract :
With the development of low-cost and lightweight Micro-Electro-Mechanical System (MEMS) sensors, it has become possible to efficiently develop an attitude estimator, thus renewing the interests into vertical-take-off and landing (VTOL) aircrafts. A quadrotor with an Attitude Heading Reference System (AHRS) was built from scratch for investigation of heterogeneous sensor data fusion and attitude stabilization. This paper focuses on the system integration through the use of a 16-bit embedded microcontroller and sensor data fusion approach to reduce the gyroscope drift and the impact of vibration noise on measurements. The Quadrotor was able to hover over the ground stably indoors and react to applied disturbances. Attitude stabilization with the implementation of a Kalman Filter and PID controller is verified to be satisfactory through tests and response observed in actual flight data.
Keywords :
Kalman filters; aircraft landing guidance; attitude control; attitude measurement; gyroscopes; helicopters; microcontrollers; microsensors; sensor fusion; three-term control; vibration control; 16-bit embedded microcontroller; AHRS; Kalman filter; MEMS sensors; PID controller; VTOL aircrafts; actual flight data; attitude estimator; attitude heading reference system; attitude stabilization; gyroscope drift; heterogeneous sensor data fusion; lightweight micro-electro-mechanical system sensors; low cost quadrotor system; system integration; vertical-take-off and landing aircrafts; vibration noise; Accelerometers; Gyroscopes; Kalman filters; Magnetic separation; Magnetometers; Micromechanical devices; Noise;
Conference_Titel :
Consumer Electronics (ISCE), 2011 IEEE 15th International Symposium on
Conference_Location :
Singapore
Print_ISBN :
978-1-61284-843-3
DOI :
10.1109/ISCE.2011.5973778
