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In this paper we present and compare four methods which address attitude estimation problem using Inertial Measurement Unit (IMU). The result of these algorithms is attitude estimate in the form of attitude quaternion. Two of these methods are authors original propositions based on expanding attitude determination algorithms by additional complementary filtering. It is shown, that this expansion significantly...
This paper presents the way of modeling thrust generated by a quadrotor flying unit. The highly non-linear equations describing rotor thrust are derived with use of momentum theory and approximated with use of generalized polynomial. The article includes the model formulation and the example of approximation. The polynomial approximation ensures the simplicity in solving during simulation with sufficient...
The main goal of this paper is to study the controllability of positive discrete linear time-varying fractional system with constant delay in control. The general formula of solution of difference state equation is used to formulate the necessary and sufficient condition for controllability of the considered system in a given time interval with respect to h-steps delay in control.
In this paper the problem of joint state and parameter estimation of quadrotor is addressed. It was assumed that quadrotor is equipped with Inertial Measurement Unit (IMU) and GPS module. Based on this instrumentation it was possible to estimate complete state vector describing the movement of rigid body, along with parameters related to its propulsion system and aerodynamic properties. Author original...
In this article, problem of wind measurement / estimation concerning maintenance of tall slender objects is addressed. An example of this kind of object is a radio tower in Gliwice, currently the tallest wooden construction in the world. Preservation of this structure is related to monitoring it's behaviour with respect to the wind. Because it is not possible to mount measurement devices directly...
In this paper we address the problem of water basins surface measurements. This problem is important in regions where coal extraction took place because of it significant impact on the landscape. We propose method based on usage of quadrotor equipped with non-metrical camera. Presented concept include discussion about quadrotor path planning, image tracing, quadrotor state estimation and altitude...
In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust...
In this paper we describe the compensation of magnetometers error which are result of high current flows in their vicinity. This kind of errors can be found in multirotor applications where measurement unit is located in the platform center, while motors with propellers are mounted on a relatively short arms around the platform body. Varying current flows have an impact on magnetic field around the...
An approach to the autonomous of the realization VTOL platform take-off and landing significantly simplifies the operator labor to control such device. At the same time, implementation of these control scenarios allows to perform these tasks under failure conditions (for example communication breakdowns). One condition of proper operation of the vertical movement control system is the ability to provide...
The problem of UAV trajectory realization under non-zero wind conditions is considered. It is assumed, that UAV is equipped with control system that allows for angular stabilization and air velocity stabilization. Trajectory is parametrized by set of way-points. In the article, simple method is proposed which allows for trajectory realization in the presence of wind.
The problem of UAV airplane trajectory tracking control system design is treated in the presence of uncertain aerodynamics and unknown external wind disturbances. The cascaded control system structure is considered where the feedback loop of the each cascade is designed by inducing of two-time-scale motions in the closed-loop system such that the controller dynamics is a singular perturbation with...
Altitude measurement with a high reliability is a very difficult issue not because of the sensors complexity and requirements but due to the quality of the signals and fast changing environment conditions. In this paper we focus on the problem of the vertical movement measurements of the unmanned aerial vehicles and approach to the future control algorithms implementation. Two-sensors algorithm has...
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