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Recently, the UAV has become the research focus at home and abroad. this paper puts forward a new aircraft type: double ducted tilting Subminiature UAV system, and carries out the research of the navigation system for this suav. This paper puts forward to apply the gyroscope, accelerometer and magnetometer, using kalman filtering algorithm to establish the optimal attitude matrix, namely the best...
Since Small Unmanned Helicopter flight attitude control process has strong time- varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules. The flight experiment showed...
Portable fixed-wing Unmanned Aerial Vehicles (PUAV) present enormous potential. In order to develop a robotic PUAV with significant levels of autonomy, the flight control system is studied. The platform is introduced and dynamics model is studied firstly. Then the infrastructure hardware and the architecture of the flight control system are detailed. As the core of the flight control system, the attitude...
Focusing on recognizing some typical gestures based on 3-axis MEMS accelerometer to interact with an application of human-machine interactive game, the hand gesture problem is analyzed firstly, then theory basis of HMM is introduced. In order to obtain training gesture data for HMM, and also to provide a hardware basis for gesture recognition, a low cost data acquisition system hardware is researched...
This paper proposed a novel contactless object-diameter method based on the binary-value circuit and Kalman filter algorithm in optical measurement systems using IR light source. A circuit includes the binary-value and the data sample is used to obtain more important information from imaging sensor, and an Kalman filter mechanism is constructed to provide an appropriate reducing the effects of measurement...
This paper proposed a novel contactless object-diameter method based on the binary-value circuit and Kalman filter algorithm in optical measurement systems. A circuit includes the binary-value and the data sample is used to obtain more important information from imaging sensor, and an Kalman filter mechanism is constructed to provide an appropriate reducing the effects of measurement noise and simultaneously...
Small size unmanned helicopter has found diverse applications for both civil and military missions. In order to develop a flight robot based on a small size unmanned remotely controlled helicopter, a flight control system is presented in this paper. The hardware and software of the system are designed. The design goal is to have the helicopter achieve stable hover. As the kernel of the system, the...
By reasonably predigesting the characteristics of the subminiature rotorcraft, a model for a subminiature rotorcraft is established and the linear time-invariant attitude dynamics with physical parameter of the subminiature rotorcraft at hover is obtained. A subspace-based state space system identification method and analysis of model uncertainty is applied to the model of rotorcraft. At last, the...
By reasonably predigesting the characteristics of the subminiature rotorcraft, a model for the nonlinear dynamics of a subminiature rotorcraft is established. Through the linearization of the nonlinear dynamics, the linear time-invariant attitude dynamics with physical parameter of the subminiature rotorcraft at hover is obtained. A subspace-based state space system identification method is applied...
Attitude determination system (ADS) that use inexpensive sensors and are based on computationally efficient and robust algorithms are indispensable for real-time vehicle navigation, guidance and control application. This paper describes an attitude determination system that is based on accelerometer and rate gyro. The algorithm is based on a extended Kalman filter. Using integration of angular rates...
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