Development of a Special Inertial Measurement Unit for UAV Applications

Khaled S. Hatamleh; Ou Ma; Angel Flores-Abad; Pu Xie

doi:10.1115/1.4007122

Journal of Dynamic Systems, Measurement, and Control | Volume 135 | Issue 1 | research-article

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Research Papers

Development of a Special Inertial Measurement Unit for UAV Applications

Khaled S. Hatamleh, Ou Ma, Angel Flores-Abad and Pu Xie

[+] Author and Article Information

Khaled S. Hatamleh

Mechanical Engineering Department,
Jordan University of Science and Technology,
P.O. Box 3030,
Irbed 22110, Jordan;
Mechanical and Aerospace Engineering Department,
New Mexico State University,
1040 S. Horseshoe Drive,
Las Cruces, NM 88003
e-mail: kshh@just.edu.jo; kshh@nmsu.edu

Ou Ma

e-mail: oma@nmsu.edu

Angel Flores-Abad

e-mail: af_abad@nmsu.edu

Pu Xie

e-mail: jackyxie@nmsu.edu
Mechanical and Aerospace Engineering Department,
New Mexico State University,
1040 S. Horseshoe Drive,
Las Cruces, NM 88003

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received October 23, 2010; final manuscript received April 29, 2012; published online October 30, 2012. Assoc. Editor: Eugenio Schuster.

J. Dyn. Sys., Meas., Control 135(1), 011003 (Oct 30, 2012) (10 pages) Paper No: DS-10-1308; doi: 10.1115/1.4007122 History: Received October 23, 2010; Revised April 29, 2012; Accepted May 07, 2012

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Abstract

Dynamics modeling is becoming more and more important in the development and control of unmanned aerial vehicles (UAV). An accurate model of a vehicle requires good knowledge of the dynamics properties and motion states, which are usually estimated with the help of integrated inertial measurement units (IMUs). This work develops a special six degrees of freedom IMU, which has the capability of measuring the angular accelerations. This paper introduces the design of the new IMU along with its sensor models and calibration procedures. The work introduces two experimental methods to verify the calibrated IMU readings. The IMU was designed to support an on-line methodology to estimate the parameters of UAV’s dynamics model that is currently being developed by the authors.

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References

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Figures

Fig. 1

Quanser’s modified 2-DOF helicopter system

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Fig. 2

The IMU prototype and its components

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Fig. 3

Schematic diagram of the sensors arrangement of the IMU

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Fig. 4

The IMU’s data structure

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Fig. 5

Sensor linear model

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Fig. 6

Accelerometer calibration platform

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Fig. 7

Schematic of a tri-axis accelerometer on the rotating table

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Fig. 8

IMU at different angular positions during the accelerometers calibration process

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Fig. 9

Calibration results of accelerometer 1 along (a) x_a₁, (b) y_a₁, and (c) z_a₁

Calibration results of accelerometer 1 along (a) xa1, (b) ya1, and (c) za1

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Fig. 10

Rate Gyro Calibration Platform with IMU on top

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Fig. 11

Platform and rate gyro axes frame

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Fig. 12

Calibration results of the rate gyro set along (a) x_g axis, (b) y_g axis, and (c) z_g axis

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Fig. 13

Top view of a disk rotating at ω angular speed and α angular acceleration

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Fig. 14

Top view of the experimental setup for the turn table test

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Fig. 15

Rotating table test’s error functions of (a) angular rate, (b) a_t₁, (c) a_t₂, and (d) a_t₃

Rotating table test’s error functions of (a) angular rate, (b) at1, (c) at2, and (d) at3

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Fig. 16

Schematic of the Pendulum test setup

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Fig. 17

Actual pendulum test when the disk was held at θ_o = 5 deg from the vertical axis

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Fig. 18

Ideal trajectories of the pendulum motion

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Fig. 19

Ideal and measured angular rate of the pendulum versus time

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Fig. 20

Ideal, estimated, and differentiated angular acceleration data of the pendulum versus time

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Hatamleh KS, Ma O, Flores-Abad A, Xie P. Development of a Special Inertial Measurement Unit for UAV Applications. ASME. J. Dyn. Sys., Meas., Control. 2012;135(1):011003-011003-10. doi:10.1115/1.4007122.

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Development of a Special Inertial Measurement Unit for UAV Applications

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