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A low cost integrated navigation system based on cascaded coupled architecture was developed for mini autonomous helicopter. A novel linear attitude fusion algorithm was introduced to fuse gyros' output with accelerometers' gravity observation and magnetometers' magnetic observation, and the estimation errors were proven to be bounded. By considering the measurement delay of GPS, the velocity and...
By analyzing the physical and aerodynamic principles, the vertical dynamics of a mini unmanned helicopter is modeled, and from which the analytic form of linearized model is derived out. A vertical velocity controller is designed based on this model, which scheduled by a multilevel finite state machine (FSM). In the addition, an effective autonomous landing programming method with effectively utilizing...
Infrared image sequences matching is a key technique in the field of video object orientation, object orientation, recognition etc.. This technique is a process of searching corresponding relationships between pixels in infrared images, which influences the precision of infrared image registrations directly. In order to accelerate the search speed, the Pyramid Strategy is introduced. In view of such...
Rotor is the most important component in mini autonomous helicopter. In order to simplify identification and control, it is desirable for mini autonomous helicopter to hold rotor speed constant, since varying rotor speed causes varying aerodynamics. An intelligent rotor speed controller has been developed, which adopts the control algorithms of feed forward and fuzzy tuned PI. The hardware design...
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