학술논문
An attitude estimation system for Pan&Tilt system
Document Type
Conference
Author
Source
2010 IEEE International Conference on Industrial Technology Industrial Technology (ICIT), 2010 IEEE International Conference on. :1605-1610 Mar, 2010
Subject
Language
Abstract
An attitude estimation of Pan & Tilt system for the small unmanned aerial vehile (SUAV) was gotten by the extended Kalman arithmetic. In order to improve the availble payload of SUAV, The MEMS sensors are selected to design the system. Firstly, the magnetometer was compensated with environment disturb magnetic field. Secondely, a new KALMAN arithmetic was put forward basing on analyzing sevaral kinds of sensors. Furthermore, the Extended KALMAN was gotten through linearization and discretion. Finally, The testings verify the attitude sensors system has a good performance in static and dynamic states, and totally satisfies the requirement of the Pan&Tilt system for SUAV.