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This article focuses on the nonlinear control issue of miniature Unmanned Aerial Vehicles(UAVs). A complete nonlinear model for miniature fixed-wing UAVs is structured and simplified as an affine nonlinear system aiming at the fast dynamic loop of key attitude control. We adopt the state feedback method to dynamic inversion controller design. To compensate the external disturbance and modeling error,...
Aiming at the attitude measurement based on MEMS (Micro Electromechanical Systems) inertial sensors, this article analyzes the limitations of traditional flight attitude estimate methods applied to MAV (Micro Aerial Vehicle) at first. Then, an extended Kalman filter (EKF) is deduced and constructed with the attitude matrix solving by MEMS gyroscope as the state update and the gravity vector solving...
Focusing on the polar extreme environment, this paper proposed a small unmanned aerial vehicle for polar scientific research. To get precise attitude information, an adaptive Kalman filter algorithm is proposed to fuse GPS, gyro, accelerator sensor information. Moreover, an optimal fuzzy logic control algorithm is trained to adjust the heading angle in real time to improve system adaptability for...
This paper describes the flight control and navigation system of a fixed-wing unmanned aerial vehicle with low cost sensors. Furthermore, an adaptive Kalman filter algorithm with radial basic function neural network is proposed to improve attitude information performance. Based on the unmanned aerial vehicle situation information and error information, system adjusts the weights of the sensor information...
This article puts forward a new heading system (including heading measurement and heading control) framework of micro air vehicle (MAV) starting from practical application, then designs a plan in which three most popular heading measurement methods, magnetic heading, strapdown heading and GPS heading, are implemented in a mini system, analyzes their strong and weak points one by one, and provides...
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