Embedded Attitude Estimation System for Quad-Rotor UAVs

Jing Ran Wu; Zhen Guo Sun; Qi Dong Ma; Wen Zeng Zhang

doi:10.4028/www.scientific.net/AMM.321-324.528

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 321-324Embedded Attitude Estimation System for Quad-Rotor...

Embedded Attitude Estimation System for Quad-Rotor UAVs

Abstract:

An embedded attitude estimation system is developed for the autonomous flight of Quad-Rotor UAVs. The system hardware is composed of a DSP processor and low-cost MEMS sensors including a 3-axis gyroscope and a 3-axis accelerometer. A Complementary Filter fused the advantages of the gyroscope and accelerometer is designed and embedded on the DSP processor to estimate the real-time attitude. Ground testing experiments show that the system could meet the accuracy and robustness requirements for the Quad-Rotor UAVs attitude estimation.

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Periodical:

Applied Mechanics and Materials (Volumes 321-324)

Pages:

528-531

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.321-324.528

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Online since:

June 2013

Authors:

Jing Ran Wu, Zhen Guo Sun, Qi Dong Ma, Wen Zeng Zhang

Keywords:

Attitude Estimation, Complementary Filter, MEMS Sensors, Quad-Rotor UAV

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