On-line inertia measurement of unmanned aerial vehicles using on-board sensors and a bifilar pendulum

Krznar, Matija and Kotarski, Denis and Piljek, Petar and Pavković, Danijel (2018) On-line inertia measurement of unmanned aerial vehicles using on-board sensors and a bifilar pendulum. = On-line inertia measurement of unmanned aerial vehicles using on-board sensors and a bifilar pendulum. Interdisciplinary description of complex systems, 16 (1). pp. 149-161. ISSN 1334-4684. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. . Točan broj autora: 4.

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Abstract

Identification of a dynamical model and its parameter estimation is one of the fundamental problems in field of robotics and system dynamics modelling. For the general case of object motion with six degrees of freedom (6- DOF), such as in the case of Unmanned Aerial Vehicle (UAV), the key physical parameters are its mass and tensor of inertias. Even though UAV mass and its geometry/topology are easily obtainable, an identification of inertia tensor is difficult considering that is not measurable by static tests. This paper presents a simple and effective method for on-line estimation of a rigid-body inertia based on two-wire pendulum and integrated sensor system. Herein, the test subject (i.e. UAV) is suspended by two thin parallel wires in such a way to form a bifilar torsional pendulum about the vertical axis. Using on-board sensors from UAV flight controller (FC) unit, the pendulum oscillations are recorded and processed to obtain trend-free and noise-free signals used in the final inertia estimation phase based on inertia- related properties of pendulum oscillations. The proposed identification algorithm is verified experimentally for two typical cases of suspended objects related to UAV control box and full UAV configuration.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	UAV, inertia tensor, on-line identification, bifilar pendulum, IMU sensors
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	1200 Department of Technology > 1220 Chair of Metal Forming 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	Yes
Indexed in Current Contents:	No
Citations JCR:	0 (13.09.2018.)
Date Deposited:	13 Sep 2018 10:59
Last Modified:	14 Jan 2019 15:25
URI:	http://repozitorij.fsb.hr/id/eprint/8718

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