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题名: Design and implementation of a compact RUAV navigation system
作者: Wu C(吴冲) ; Song DL(宋大雷) ; Dai L(戴磊) ; Qi JT(齐俊桐) ; Han JD(韩建达) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期: December 14-18, 2010
会议地点: Tianjin, China
会议主办者: IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 1662-1667
收录类别: EI
ISBN号: 9781424493173
关键词: Biomimetics ; Navigation systems ; Robotics
摘要: A small, low-cost, light-weight, and compact GPS/INS navigation system for a Rotorcraft UAV (RUAV) was designed and implemented on an ARM9 LPC3250 platform, and the process is discussed in this paper. Based on the characteristics of the sensors, a two-stage Extended Kalman Filter (EKF) is embedded to estimate the flight states, get rid of online noise, and fed back the results to the flight controller. Some practical problems about realizing the algorithm have been addressed. The full system has been tested successfully on a ServorHeli-40 RUAV platform. Based on this navigation system, further research in navigation and control theory can be implemented and tested experimentally.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8633
Appears in Collections:机器人学研究室_会议论文

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