DOI
https://doi.org/10.25772/RBQB-AH45
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