Author/Authors :
Hatamleh, Khaled S. New Mexico State University - Department of Mechanical Aerospace Engineering, USA , Flores-Abad, Angel New Mexico State University - Department of Mechanical Aerospace Engineering, USA , Martinez, Gerardo New Mexico State University - Department of Mechanical Aerospace Engineering, USA , Herrera, Brandi New Mexico State University - Department of Mechanical Aerospace Engineering, USA , Ma, Ou New Mexico State University - Department of Mechanical Aerospace Engineering, USA , Xie, Pu New Mexico State University - Department of Mechanical Aerospace Engineering, USA
Abstract :
Unmanned Aerial Vehicles (UAVs) are being deployed in a vast variety of military, civilian, industrial and agricultural applications. Dynamics modeling is an essential step towards designing autonomous controllers for UAV systems. The dynamics modeling on the other hand requires accurate records of the UAVs motion states during real flight tests, this is usually achieved using Inertial Measurement Units (IMUs) and other necessary sensors. This work introduces the purpose, the development and the calibration details of a special six degrees of freedom IMU. The unit is being used in verifying an online UAV dynamics model parameter estimation methodology.
Keywords :
IMU , UAV dynamics models , parameter estimation , calibration
