Journal article
Fault-tolerant attitude computation for unmanned aerial vehicles
Transactions of the Institute of Measurement and Control, v 33(6), pp 752-779
Aug 2011
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Attitude information is essential in the control of unmanned aerial vehicles (UAVs). One way of defining attitude is through Euler angles. These angles can be determined based on the measurements of the projections of the gravity and earth magnetic fields on the three body axes of the vehicle. Twenty-five methods have been developed to compute the Euler angles and each of these methods employ a subset of the six measurements. The capability of computing the Euler angles in multiple ways provides a diversified redundancy required for fault tolerance. The proposed approach can identify the sensor failures and even separate the reference fields from the disturbances. A bank-to-turn manoeuvre of the NASA GTM UAV is used to show how to determine the correct Euler angles despite interferences by inertial acceleration.
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Details
- Title
- Fault-tolerant attitude computation for unmanned aerial vehicles
- Creators
- Chirag Jagadish - Department of Mechanical Engineering, Drexel University, Philadelphia, PA 19104, USABor-Chin Chang - Department of Mechanical Engineering, Drexel University, Philadelphia, PA 19104, USA
- Publication Details
- Transactions of the Institute of Measurement and Control, v 33(6), pp 752-779
- Publisher
- SAGE Publications; London, England
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:000293088100008
- Scopus ID
- 2-s2.0-79960739143
- Other Identifier
- 991014877664904721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Instruments & Instrumentation