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Author:Koskela, Petri
Title:Design and implementation of attitude and heading reference system for small unmanned aerial vehicle
Miehittämättömän lennokin asennonmääritysjärjestelmän suunnittelu ja toteutus
Publication type:Master's thesis
Publication year:2010
Pages:[9] + 83      Language:   eng
Department/School:Elektroniikan, tietoliikenteen ja automaation tiedekunta
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Halme, Aarne
Instructor:Holm, Mikael
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  907   | Archive
Keywords:UAV
state estimation
AHRS
Kalman filter
inertial sensor
UAV
tilaestimointi
AHRS
Kalman suodin
inertiaalianturi
Abstract (eng): The purpose of this thesis was to create a system that is capable of estimating the attitude and heading of an unmanned aerial vehicle (UAV).
The aim was to replace the existing horizon sensing system that was unreliable in certain environmental conditions.

The implemented attitude and heading reference system (AHRS) used measurements from inertial sensors, GPS and magnetometer.
The sensors were connected to a processor board that runs a Kalman filtering algorithm to fuse the sensor data.
The AHRS was connected to the autopilot, which was modified to use the new attitude estimate for controlling the plane.

The functionality of the implemented system was tested by performing several test flights under different conditions.
According to the results the implemented system works as desired.
Abstract (fin): Diplomityön tarkoitus oli toteuttaa järjestelmä, joka kykenee estimoimaan pienen miehittämättömän lennokin (UAV) asennon.
Tarkoituksena oli korvata koneessa oleva "horisonttianturi", joka toimi epäluotettavasti tietyissä ympäristöolosuhteissa.

Toteutettu asennon estimointijärjestelmä (AHRS) perustuu inertiaaliantureiden, GPS:n ja magnetometrin käyttöön.
Anturit on kytketty prosessorikorttiin, joka ajaa Kalmansuodin-algoritmia, joka laskee anturidatasta asentoestimaatin.
Toteutettu AHRS -järjestelmä kytkettiin koneen autopilottiin, jonka toimintaa muutettiin siten, että se käyttää uutta asentoestimaattia koneen ohjaamiseen.

Järjestelmän toimivuuden varmistamiseksi suoritettiin useita testilentoja erilaisissa olosuhteissa.
Tulosten perusteella järjestelmä toimii toivotulla tavalla ja se voidaan ottaa käyttöön.
ED:2010-06-07
INSSI record number: 39725
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