Estimating the attitude of an unmanned aerial vehicle through multiple low-cost ultrasonic range sensors

Roger A. Salguero, Matthew Rhudy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work presents an evaluation of using four ultrasonic range sensors to estimate the roll and pitch angles of a quadcopter. The testing was performed at different static orientations, heights, and ground surfaces in order to explore the viability of this technique for indoor and outdoor flight applications. It was determined from this work that it is possible to determine the roll and pitch angles to within ~2 degrees of accuracy under ideal smooth surface conditions, but suffers from significant errors for rough or uneven surfaces. It was also discovered that using this technique alone only works effectively for small attitude angles, and therefore could benefit from integration with other sensing systems.

Original languageEnglish (US)
Title of host publicationAIAA Information Systems-AIAA Infotech at Aerospace, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104497
StatePublished - Jan 1 2017
EventAIAA Information Systems-Infotech At Aerospace Conference, 2017 - Grapevine, United States
Duration: Jan 9 2017Jan 13 2017

Publication series

NameAIAA Information Systems-AIAA Infotech at Aerospace, 2017

Other

OtherAIAA Information Systems-Infotech At Aerospace Conference, 2017
CountryUnited States
CityGrapevine
Period1/9/171/13/17

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Industrial and Manufacturing Engineering

Cite this

Salguero, R. A., & Rhudy, M. (2017). Estimating the attitude of an unmanned aerial vehicle through multiple low-cost ultrasonic range sensors. In AIAA Information Systems-AIAA Infotech at Aerospace, 2017 (AIAA Information Systems-AIAA Infotech at Aerospace, 2017). American Institute of Aeronautics and Astronautics Inc, AIAA.