A Two-stage Calibration Method for Low-cost UAV Attitude Estimation Using Infrared Sensor

摘要：

Infrared (IR) sensors are widely used on robotics platforms for measurement purposes. Low-cost small unmanned aerial vehicles (UAVs) have drawn broad interests during recent years for their various uses in many applications. This paper introduces a two-stage IR sensor calibration method for the attitude estimation of low-cost UAVs. The first stage is based on ground and flight tuning procedures, which are concluded from experience; the second stage is to use the calibration algorithm with inertial measurement unit (IMU) as the baseline reference. The implementation and optimization of the proposed algorithm is described and explained in detail. The experimental flight results are compared and discussed in the end.

作者: Long Di Haiyang Chao YangQuan Chen

作者单位: Center for Self-Organizing and Intelligent Systems(CSOIS) Dept. Of Electrical and Computer Engineering Utah State University, Logan, UT, USA

会议类型: 国际会议

会议名称: 2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

会议地点: 青岛

会议语种:英文

页码: 137-142

在线出版日期: 2010-07-15（万方平台首次上网日期，不代表论文的发表时间）