A system for determining vehicle attitude using a field programmable gate array (FPGA) and low cost gyroscopes is presented. The method is intended to support the stabilization of a short duration, unmanned aerial vehicle. Using a microelectronmechanical system (MEMS) inertial sensor for the calibration and serial interface, the algorithm sidesteps concerns related to electronmagnetic interference and the impact of embedded, proprietary filters. An Allan variance analysis is used to characterize the sensor errors and predict system performance. A floating point representation using a direction cosine matrix is hosted on the FPGA alongside the platform stabilization feedback loops. Although prone to drifting without additional aiding, the derived attitude has been demonstrated to be effective in stabilizing a remotely piloted quadrotor.
Field Programmable Gate Array-Based Attitude Stabilization
2008
16 pages
Report
No indication
English
Field Programmable Gate Array Based Reconfigurable Preprocessor
British Library Conference Proceedings | 1994
|