This paper describes the attitude control technology for unmanned airships, and presents a structure of attitude control system including feedback of angular position and feedback of angular rate. Then, attitude estimation algorithm based on MIMU and Kalman filter is focused on. In order to improve attitude information performance, an adaptive Kalman filter is designed on the basis of Radial Basis Function Neural Networks (RBFNN), which adjusting filter gain matrix and observation noise matrix on-line. Thus, the accuracy of attitude control for unmanned airships is ensured. Finally, ground and flight test results verify the validity of the algorithm.
Attitude Control System Research of Unmanned Airship
Lect. Notes Electrical Eng.
Proceedings of the 2012 International Conference on Information Technology and Software Engineering ; Kapitel : 98 ; 935-943
06.11.2012
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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