Author_Institution :
Crossbow Technol., Inc., San Jose, CA
Abstract :
This paper presents a framework for the automation of a small UAV using a low cost sensor suite, MNAV, and an embedded computing platform, Stargate, which together provide a complete avionics package for aerial robotic applications. In order to provide a complete INS solution (i.e., attitude, velocity, position, and biases), an extended Kalman filter algorithm is developed and implemented in real-time. A devised control strategy utilizes multiple PID loops with a hierarchy enabling simple attitude stabilization to full waypoint navigation. The developed ground station unit, a laptop computer, communicates with the avionics package via 802.11b WiFi, displays the aircraft critical information, provides in-flight PID gain tunings, and uploads waypoints, through a simple GUI. The system is installed in an off-the-shelf delta-wing R/C aircraft and demonstrates its performance for aerial robotic applications
Keywords :
Kalman filters; aerospace robotics; aircraft computers; aircraft navigation; embedded systems; ground support systems; microsensors; remotely operated vehicles; software packages; three-term control; GUI; IEEE 802.11b WiFi; MEMS sensor; MNAV; Stargate; aerial robotic; aircraft critical information; attitude stabilization; avionics package; control strategy; embedded computing platform; extended Kalman filter algorithm; full waypoint navigation; ground station unit; in-flight PID gain tunings; laptop computer; low cost sensor suite; multiple PID loops; off-the-shelf delta-wing R/C aircraft; small UAV automation; uploads waypoints; Aerospace electronics; Aircraft navigation; Computer displays; Costs; Embedded computing; Packaging; Robot sensing systems; Robotics and automation; Three-term control; Unmanned aerial vehicles;
