Abstract
Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high-cost and small-range MEMS gyroscope is combined with low-cost and large-range MEMS gyroscopes. Then, an adaptive data fusion method of redundant MEMS gyroscopes is proposed. By the designed experiments based on the simulation data and the sensor measurement data, the proposed method has been proved that it can effectively improve the angular rate measurement performance of the multi-rotor UAV and broaden the angular rate measurement range on the basis of saving the configuration cost and volume of the micro IMU.
Highlights
Motors and propellers in multi-rotor Unmanned Aerial Vehicles (UAVs) are directly fixed on a frame
In order to ensure the stability of the flight control system in the complex airborne vibration environment, especially the stability of the attitude loop control, the multi-rotor UAV puts forward higher requirements on the angular rate measurement range and accuracy of the Microelectromechanical System (MEMS) gyroscope equipped in the navigation control system
Since the multi-rotor UAV has requirements on the volume, power consumption, and cost of the residual MEMS Inertial Measurement Unit (IMU), according to the references in the Introduction, the configuration options available in the redundancy MEMS IMU are: (1) orthogonal configuration using the same type of low-precision sensors; (2) orthogonal configuration using the different type of low-precision sensors; (3) orthogonal configuration using a mix of high- and low-precision sensors
Summary
Motors and propellers in multi-rotor Unmanned Aerial Vehicles (UAVs) are directly fixed on a frame. In order to ensure the stability of the flight control system in the complex airborne vibration environment, especially the stability of the attitude loop control, the multi-rotor UAV puts forward higher requirements on the angular rate measurement range and accuracy of the Microelectromechanical System (MEMS) gyroscope equipped in the navigation control system. A sufficiently large angular rate measurement range is the basic premise for multi-rotor UAV control reliability and anti-jamming capability [5]. The angular rate accuracy and reliability of industrial-grade MEMS gyroscopes [6,7,8] are significantly higher than those of the consumer grade, but its range is generally narrower, which makes it difficult to meet the wide-range measurement requirements of multi-rotor UAV [9]. To improve the measurement accuracy and broaden the measurement range of the MEMS gyroscope in the multi-rotor UAV, a redundant configuration composed of a plurality of MEMS gyroscopes can be employed [10]
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