On the Motion Estimation of Unmanned Vehicle Systems

• Main Authors: Shing-HungLai, 賴信宏
• Other Authors: Chen Hsieh
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/08992504613948509561

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 101 === Because of the advantage of light weight, high mobility and flexibility, the range of applications for unmanned aerial vehicle are expanded gradually. In order to increase stability of unmanned aerial vehicle or to achieve semi-automatic and automatic control, it is usually use AHRS(Attitude Heading Reference System) and GPS(Global Positioning System) to feedback information of attitude, position and velocity. However, AHRS is very expensive and probably not fit the specification of control. Moreover, the whole control system becomes complicate and needs more space when it has to integrate all sensors and control unit. Therefore, it has to develop a motion sensor which can overcome the disadvantage of the above and provide the information of UAV to the control system. In this research, it uses 32 bits microprocessor of Microchip and integrates gyroscope, accelerometer, magnetometer, barometric altimeter and GPS to apply the mathematic model built in this research.