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Design and Implementation of Low-Cost Attitude Quaternion Sensor

  • Kenzo Nonami
  • Farid Kendoul
  • Satoshi Suzuki
  • Wei Wang
  • Daisuke Nakazawa

Abstract

In this chapter, the development of a low-cost attitude sensor is introduced. In the previous chapters, the control system design method of several UAVs/MAVs with rotary wings was shown, and several kinds of controllers were designed. The most important controller is the attitude controller because if attitude control is not achieved, any other control such as velocity and position controls cannot be achieved. For achieving attitude control, it is necessary to measure the attitude of UAV/MAV. Hence, we require an attitude sensor. However, conventional attitude sensors are somewhat expensive and heavy, and they cannot be used for the attitude control of small UAVs and MAVs. Therefore, the design of an attitude estimation algorithm by using low-cost sensors, accelerometers, gyro sensors, and magnetic sensor is introduced. Finally, a low-cost attitude sensor has been developed and evaluated by comparing it with a conventional high-accuracy sensor.

Keywords

Kalman Filter Extended Kalman Filter Attitude Sensor Bias Error Angular Rate 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer 2010

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Farid Kendoul
    • 2
  • Satoshi Suzuki
    • 3
  • Wei Wang
    • 4
  • Daisuke Nakazawa
    • 5
  1. 1.Faculty of EngineeringChiba UniversityChibaJapan
  2. 2.CSIRO Queensland Centre for Advanced TechnologiesAutonomous Systems LaboratoryPullenvaleAustralia
  3. 3.International Young Researchers Empowerment CenterShinshu UniversityUedaJapan
  4. 4.College of Information and Control EngineeringNanjing University of Information Science & TechnologyNanjingP.R. China
  5. 5.Advanced Technology R&D CenterMitsubishi Electric CorporationAmagasakiJapan

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