Low Accuracy Sensor-based Navigation and Fully Autonomous Guidance Control of Small Electric Helicopter

摘要：

In this research, we design the navigation and fully autonomous control system for small electric helicopter. Small and low-accuracy sensors (GPS which cannot output vertical velocity, low-accuracy accelerometers, and barometer) are used for navigation and control. Firstly, INS/GPS/Barometer navigation system is designed to obtain high-accuracy position and velocity of the helicopter. Secondly, 3-dimensional guidance control system is designed by using optimal control theory and quaternion kinematics. Lastly, whole systems designed in this research are validated by the flight experiments.

作者: Satoshi Suzuki

作者单位: International Young Researchers Empowerment Center,Shinshu University,3-15-1 Tokida,Ueda-shi,Nagano,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4442-4448

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）