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Design and Implementation of an Inertial Navigation System for a Helicopter UAV

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Abstract:
Helicopter unmanned aerial vehicles (UAVs) benefit from vertical takeoff and landing, hover, low-speed, and cruising flight capabilities. This versatility has the expense of nonlinear, unstable, and underactuated system dynamics. These challenges and numerous potential applications make the helicopter UAV an interesting testbed for nonlinear control. A platform for such development has been established in the Applied Nonlinear Controls Lab (ANCL) at the University of Alberta. A miniature helicopter was augmented with a manual/autonomous takeover system and the ANCL Avionics. This payload contains a global positioning system (GPS) receiver, inertial sensors, and communications and computing hardware. Allan variance analysis of inertial sensor data enabled the development of a magnetometer-plus-GPS-aided inertial navigation system that was implemented on the ANCL Avionics. Performance validation of this algorithm was demonstrated in simulation and experimental ground and flight tests.

Type of Seminar:
IfA Seminar
Speaker:
Prof. Alan F. Lynch
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada
Date/Time:
Mar 05, 2010   16:00
Location:

ML F38, Sonneggstrasse 3
Contact Person:

Prof. Raffaello D'Andrea
No downloadable files available.
Biographical Sketch:
Alan F. Lynch obtained his B.A.Sc. at the University of Toronto in Engineering Science (Electrical Option) in 1991, M.A.Sc. in Electrical Engineering from University of British Columbia in 1994, and Ph.D. in Electrical and Computer Engineering from the University of Toronto in 1999. From 1999 to 2001 he was a postdoctoral researcher at the Institut fuer Regelungs und Steuerungstheorie at TU-Dresden. Since 2001 he has been a faculty member at the Department of Electrical & Computer Engineering, University of Alberta and currently holds the rank of Associate Professor. From 2009 to 2010 he is on sabbatical as a Humboldt Research Fellow at the Instituts fuer Systemtheorie und Regelungstechnik (IST) in the Universitaet Stuttgart. He is Associate Editor of Control Engineering Practice and the International Journal of System Science. His interests include nonlinear control and its application to electrical and electromechanical systems including power converters, unmanned aerial vehicles, and self-bearing motors.