A new position regulation strategy for VTOL UAVs using IMU and GPS measurements
A new position regulation strategy for VTOL UAVs using IMU and GPS measurements
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使用 IMU 和 GPS 测量的 VTOL 无人机新位置调节策略
DOI：
10.1016/j.automatica.2012.10.009
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Abdelhamid Tayebi
中科院分区：
文献类型：
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作者：
A. Roberts;Abdelhamid Tayebi
提出了一种新的基于IMU和GPS测量的垂直起降无人机位置调整策略。由于没有传感器来衡量态度，我们的方法不依赖于现有文献中通常所做的系统取向的知识(或重建)。取而代之的是，IMU和GPS测量被直接纳入控制律。拟议策略的一个重要特点是，加速度计用于测量车辆的表观加速度，而不是仅测量重力向量，否则在车辆加速时(即不处于悬停状态)会导致意外的性能。
We propose a new position regulation strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed strategy, is that the accelerometer is used to measure the apparent acceleration of the vehicle, as opposed to only measuring the gravity vector, which would otherwise lead to unexpected performance when the vehicle is accelerating (i.e. not in a hover configuration).
DOI：
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发表时间：
2003
期刊：
7th International Conference on Mechatronics Technology
影响因子：
--
作者：
Y.Yamaguchi;J.Furusho;Shigeru Futami
通讯作者：
Shigeru Futami