Hardware Design for State Vector Identification of a Small Helicopter Model

Viliam Fedák; Ján Bačík

doi:10.4028/www.scientific.net/AMM.282.107

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 282Hardware Design for State Vector Identification of...

Hardware Design for State Vector Identification of a Small Helicopter Model

Abstract:

The paper deals with hardware design for sensory system of a small helicopter model that is characterized by a long-term stability and in real time generates data about helicopter state variables during helicopter flight. The sensor system is based on powerful 32-bit processors with the cores ARM7 and Cortex-M3. The main unit for data processing presents an embedded computer built on a mini-ITX motherboard with processor Intel i3. As the helicopter presents a system with six degrees of freedom and in the fact, during the flight, there is not any fixed point that would enable to caliber the sensors placed on the helicopter board, for processing of sensor data complex stochastic calculations are necessary. They are based on the discrete Kalman filter that present a main computing tool of the control system.

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Periodical:

Applied Mechanics and Materials (Volume 282)

Pages:

107-115

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.282.107

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Online since:

January 2013

Authors:

Viliam Fedák, Ján Bačík

Keywords:

Discrete Kalman Filter, Helicopter, Inertial Navigation, State Space Vector, UAV

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