Abstract :
This paper presents a framework for the automation of a small UAV using a low cost sensor suite, MNAV, and an embedded computing platform, Stargate, which together provide a complete avionics package for aerial robotic applications. In order to provide a complete INS solution (i.e., attitude, velocity, position, and biases), an extended Kalman filter algorithm is developed and implemented in real-time. A devised control strategy utilizes multiple PID loops with a hierarchy enabling simple attitude stabilization to full waypoint navigation. The developed ground station unit, a laptop computer, communicates with the avionics package via 802.11b WiFi, displays the aircraft critical information, provides in-flight PID gain tunings, and uploads waypoints through a simple GUI. The system is installed in an off-the-shelf delta-wing R/C aircraft and demonstrates its performance for aerial robotic applications
Keywords :
Kalman filters; aerospace robotics; attitude control; avionics; graphical user interfaces; inertial navigation; micromechanical devices; position control; remotely operated vehicles; three-term control; velocity control; wireless LAN; 802.11b WiFi; GUI; Kalman filter algorithm; MEMS; MNAV; PID gain tunings; Stargate; UAV automation; aerial robotic; attitude stabilization; avionics package; delta-wing RC aircraft; embedded computing; ground station; inertial navigation system; laptop computer; sensor suite; unmanned aerial vehicle; Aerospace electronics; Aircraft navigation; Computer displays; Costs; Embedded computing; Micromechanical devices; Packaging; Robot sensing systems; Robotics and automation; Unmanned aerial vehicles;
