Defense Date

2013

Document Type

Thesis

Degree Name

Master of Science

Department

Engineering

First Advisor

Robert Klenke

Abstract

This paper describes, the development of a sensor fusion algorithm-based Kalman lter ar- chitecture, in combination with a low cost Inertial Measurement Unit (IMU) for an Attitude Heading Reference System (AHRS). A low cost IMU takes advantage of the use of MEMS technology enabling cheap, compact, low grade sensors. The use of low cost IMUs is primar- ily targeted towards Unmanned Aerial Vehicle (UAV) applications due to the requirements for small package size, light weight, and low energy consumption. The high dynamics nature of smaller airframes, coupled with the typical vibration induced noise of UAVs require an e cient, reliable, and robust AHRS for vehicle control. To eliminate the singularities at 90 on the pitch and roll axes, and to keep the computational e ciency high, quaternions are used for state attitude representation.

Rights

© The Author

Is Part Of

VCU University Archives

Is Part Of

VCU Theses and Dissertations

Date of Submission

August 2013

Included in

Engineering Commons

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