Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight

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

13 Citations (Scopus)

Abstract

This paper presents a modeling and simulation tool for the design and development of a Quad-Rotor UAV, which is capable of indoor flight with the aid of MEMS-based sensors and ultrasonic rangefinders. The vehicle requires an attitude stabilizing controller to allow it to be flown indoors without a high degree of operating skill. Attitude estimations are difficult without GPS aiding and expensive inertial sensors. An Extended Kalman Filter (EKF) is proposed to estimate the attitude states with the aid of rangefinders, but the system must be thoroughly tested in simulation. The paper presents a dynamics model and simulation tool for design and validation of the controller and state estimator prior to flight test. The simulation is performed under Mathworks' Matlab/Simulink environment. A method for real-time simulation and visualization is also developed.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
Pages1117-1127
Number of pages11
Volume2
StatePublished - Dec 1 2006
EventAIAA Modeling and Simulation Technologies Conference, 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Other

OtherAIAA Modeling and Simulation Technologies Conference, 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

Fingerprint

Range finders
Unmanned aerial vehicles (UAV)
Rotors
Controllers
Sensors
Extended Kalman filters
MEMS
Global positioning system
Dynamic models
Visualization
Ultrasonics
Computer simulation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Wei, G., & Horn, J. F. (2006). Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight. In Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006 (Vol. 2, pp. 1117-1127)
Wei, Guo ; Horn, Joseph Francis. / Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight. Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. Vol. 2 2006. pp. 1117-1127
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Wei, G & Horn, JF 2006, Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight. in Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. vol. 2, pp. 1117-1127, AIAA Modeling and Simulation Technologies Conference, 2006, Keystone, CO, United States, 8/21/06.

Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight. / Wei, Guo; Horn, Joseph Francis.

Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. Vol. 2 2006. p. 1117-1127.

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

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Wei G, Horn JF. Modeling and simulation for the development of a Quad-Rotor UAV capable of indoor flight. In Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006. Vol. 2. 2006. p. 1117-1127