Abstract
The dubiousness of instantiation of the gyroverticales which based on micromechanical accelerometers and on micromechanical gyroscopic sensors is shown. Based on the analysis of the frequency characteristics of the errors of micromechanical gyroscopes and accelerometers, the expediency of their integration using the method of mutual compensation is shown. The algorithms and results of research of the integrated micromechanical gyroverticales which are based on compensation schemes with first-order and third-order dynamic filters with forcing are given. The approaches to the solution of the problem of the calibration integrated micromechanical gyroverticales in the flight are shown. The conducted researches of the proposed gyrovertical with the flight's calibration and with correction scheme showed good filtering properties and acceptable accuracy of measuring angular orientation parameters.
Highlights
Analyzing the possibility of using high precision attitude gyroscope on miniature unmanned aerial vehicle (UAV), it can be noted that such gyroscopes are too expensive, heavy and overall size.To measure the parameters of angular orientation a number of alternative methods is proposed, including pyrometric and magnetometrical methods [1].The disadvantage of the pyrometric method is the measurement error during UAV flight at low altitudes over sloping terrain, because the horizon of thermal radiation of ground surface is distorted
The use on UAVs of micromechanical gyroverticals (MMGV) and strapdown inertial navigation system (SINS), which are based on rather crude but microminiaturize sensors of source information MEMS sensors, is becoming increasingly popular. These standard specifications are mainly meet by micromechanical accelerometers (MMA) and angular velocity sensors (MMAVS), which are manufactured using solid state microelectronics technology, that are close to batch fabrication ultra-large integrated circuits
Accelerations, which a long period of time acting on the UAV, for example, when accelerating or braking, and most importantly when performing turns and circles, significantly distort estimates of the angular orientation parameters
Summary
Analyzing the possibility of using high precision attitude gyroscope on miniature unmanned aerial vehicle (UAV), it can be noted that such gyroscopes are too expensive, heavy and overall size. The use on UAVs of micromechanical gyroverticals (MMGV) and strapdown inertial navigation system (SINS), which are based on rather crude but microminiaturize sensors of source information MEMS sensors, is becoming increasingly popular. These standard specifications are mainly meet by micromechanical accelerometers (MMA) and angular velocity sensors (MMAVS), which are manufactured using solid state microelectronics technology, that are close to batch fabrication ultra-large integrated circuits. Such MEMS sensors are quantityproduced and cost as much as electronic chips – a few dollars. The development of algorithms for integrating the data of primary information sensors MMGV and BINS is a very urgent problem
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