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

fYear

2011

fDate

14-17 June 2011

Firstpage

34

Lastpage

39

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics (ISCE), 2011 IEEE 15th International Symposium on

Conference_Location

Singapore

ISSN

0747-668X

Print_ISBN

978-1-61284-843-3

Type

conf

DOI

10.1109/ISCE.2011.5973778

Filename

5973778