碩士 / 元智大學 / 機械工程學系 / 92 / We fulfill inertial navigation system for unmanned helicopter to collect flying speed, attitude, rotation, position, and azimuth.
Inertial navigation system for unmanned helicopter includes attitude and heading reference system (AHRS) and inertial navigation system/global positioning system (INS/GPS). Kalman filter integrate GPS, compass, 3D accelerometer, and micro gyroscope. GPS can tell the absolute coordinate of position and the speed of object. Compass indicates the azimuth with magnetic flow.
We propose the quaternion model to calculate the attitude of flying object with kalman filter according to 3D accelerometer, compass and transfer to euler angle.
INS/GPS integral two time to calculate the speed and position, but the integral error will appear and the kalman filter to reduce the error increase the accuracy and combine the GPS feedback to revise and predict the error of speed and position.
All of Software used Matlab, xPC Target, Real-Time Workshop, Simulink, and Microsoft C/C++. System Hardware used industrial PC/104 computer, industrial PC/104 A/D, industrial PC/104 CAN, YZ PIC Proto microchip board, and wireless LAN.
To experience inertial navigation for unmanned helicopter, a 4 wheel-drive model car has been test on the model platform with slope trail, 400-meter track yard also to identify the accuracy of our design system.
Keyword: Inertial Navigation System, Global Position System, Attitude and Heading
| Identifer | oai:union.ndltd.org:TW/092YZU00489054 |
| Date | January 2004 |
| Creators | Chang-Pu Yang, 楊長圃 |
| Contributors | Chwan-Hsen Chen, 陳傳生 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 35 |
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