Tongyue Gao

An Attitude Determination System For A Small Unmanned Helicopter Using Low-Cost Sensors

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 as state vector and the earths gravity as the measured vector, the attitude (roll and pitch) and gyro bias is estimated. At last, a discrete extended Kalman filter (EKF) implement of the same formulation is test on a small unmanned helicopter.

Small UAV controlled by an online adaptive fuzzy control system

Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and random disturbances, the conventional control methods with unchanged parameters are often unworkable. An online adaptive fuzzy control system (AFCS) is designed in this paper, in a way that a process model of the plant or its approximation in the form of a Jacobian matrix is not required. An online AFCS implements a simultaneous online tuning of fuzzy rules and the output scale factors of the system. A two-cascade controller is designed with an inner (attitude controller) and outer controller (navigation controller) of the small unmanned helicopter. At last, an attitude controller based on an online AFCS is implemented. The flight experiments show that the proposed fuzzy logic controller provides quick response, small overshoot, high accuracy, robustness and adaptive ability. It satisfies the needs of autonomous flight.

Design of double ducted tilting SUAV navigation system based on multi-sensor information fusion

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 digital platform. The optimal attitude matrix based on this method can avoid the long-term accumulated errors of attitude matrix in conventional integrated navigation. In addition, the paper puts forward kalman algorithm combined with integrated navigation, which can be adjusted according to the motion information of the carrier. Based on this method, the integrated navigation system can gain the best navigation information under different motion state. Finally, this paper proves that the navigation system design based on multisensor information fusion.

High precision contactless object-diameter measurement using laser light source

This paper proposed a novel contactless object-diameter method based on the binary-value cir cuit 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 measur ement noise and simultaneously extract the measured object-diameter. In this paper, the application of this method for diameter measurement of objects with circular cross-section is described. Also, its performance is illustrated using experimental results.

An Adaptive Filter for a Small Attitude and Heading Reference System Using Low Cost Sensors

Small Attitude And Heading Reference System (AHRS) based on MEMS are small size, light weight, low power consumption, and low cost by the inclusion of micro sensors. Small AHRS have many potential uses beyond air- and spacecraft applications. However, the MEMS sensors have large noise, bias and scale factor errors due to drift. An extended Kalman filter with adaptive gain was used to build a small AHRS system based on a stochastic model. The adaptive filter tunes its gain automatically based on the system dynamitic sensed by the movement state to yield optimal performance.

Robotic small unmanned aerial vehicle system for disaster information gathering

Small fixed-wing unmanned aerial vehicles (SUAVs) present an enormous potential for low-altitude exploration applications. In order to develop a robotic SUAV with high level of autonomy for disaster information gathering, the flight control and navigation system is presented and the hardware and software are detailed. Then the dynamic model of flight motion of SUAV is studied. As the kernel of the system, the architecture of flight control and navigation strategies are presented, then variable universe fuzzy attitude controller and mission path tracking controller are introduced in detail. The flight experiments for low altitude information gathering using this robotic SUAV are implemented and the flight results are given and analysed.

High precision contactless object-diameter measurement using IR light source

This paper proposed a novel contactless object-diameter method based on the binary-value cir cuit 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 measur ement noise and simultaneously extract the measured object-diameter. In this paper, the application of this method for diameter measurement of objects with circular cross-section is described. Also, its performance is illustrated using experimental results.

Control of Small Unconventional UAV based on an On-line Adaptive ADRC System

Recently, the UAV has become the research focus at home and abroad. This paper puts forward a unconventional type: double ducted tilting subminiature UAV system (SUV), and carries out the research of the control system for this SUAV. Since SUAV 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 online adaptive ADRC control system is designed in this paper. An online adaptive ADRC system implements a simultaneous online tuning of ADRC rules and output scale of ADRC control system. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight.

Mathematical Modeling and Identification of a Subminiature Rotorcraft with Flybar Dynamics

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 valid of the identified attitude model is testified.

The Design and Development of a Flight Control System for a Small Size Unmanned Helicopter

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 flight control strategies are described which based on artificial neural network and human operators skill. The processed flight data are used to train and validate a multilayer artificial neural network offline, and then the trained artificial neural network is reconstructed in the flight control system for control strategies