Miniature-Autopilot Evaluation System | Science Publications

Journal of Computer Science

Lamarious Carter¹  Kamal Ali¹ 

关键词: Gimbaled platform;    HILS;    IMU;    UAV;    MAV;   

DOI  :  10.3844/jcssp.2008.30.35

学科分类：计算机科学（综合）

来源: Science Publications

【 摘 要 】

This research describes a Hardware in the Loop Simulator (HILS) that was developed to enhance the quality of attitude data received from autopilots. The described system aided in adjusting the contribution of individual IMU sensors and thereby improved the accuracy of IMU data. The HILS system outlined in this research is a gimbaled platform equipped with four stepper motors and two optical shaft encoders. The stepper motors simulated flight, while the shaft encoders reported the platform's exact angular position. Having exact attitude information to compare with IMU data allowed for the filtering of IMU errors. The HILS system was also used as an inertial frame of reference to which IMU data was synchronized.

【 授权许可】

Unknown