نوع مقاله : مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

1 دانشیار، دانشکده مهندسی و فناوری‌های نوین و هوافضا، دانشگاه شهید بهشتی,، تهران، ایران

2 کارشناسی ارشد، دانشکده مهندسی فناوری‌های نوین، دانشگاه شهید بهشتی، تهران، ایران

چکیده

در یک سامانه هوافضایی، کنترل وضعیت یکی از زیرسیستم‌های اساسی به شمار می‌رود. در این زیرسیستم، تخمین وضعیت کنونی، برای کنترل وضعیت بسیار حائز اهمیت بوده که این مهم با توجه به سنسورهای وضعیت حاصل می‌گردد. امروزه تحقیقات گسترده‌ای برای کاهش هزینه در سامانه‌های تخمین وضعیت برای کاربردهایی مانند پرنده بدون سرنشین، پلتفرم شبیه‌ساز وضعیت ماهواره و غیره در حال انجام است. برای این منظور سنسورهای تولید شده بر اساس تکنولوژی میکروالکترومکانیکی به دلیل ابعاد کوچک و مصرف انرژی پایین بسیار مورد توجه قرار گرفته است. این مدل از سنسورها با وجود مزایای بسیار، دارای نویز و اختلالات مختلفی هستند که برای دریافت خروجی قابل قبول، نیازمند اعمال الگوریتم‌های ترکیب و تخمین داده می‌باشند. در این پژوهش برای تعیین وضعیت پلتفرم شبیه‌ساز، الگوریتم‌های ترکیب داده شامل فیلتر مکمل، فیلتر کالمن و فیلتر کالمن تعمیم‌یافته بر روی سنسور ارزان قیمت پیاده‌سازی شده است. روش‌های تخمین مذکور روی پلتفرم پیاده‌سازی شده و با تعیین پارامتر‌های تاثیرگذار در الگوریتم‌های تخمین دقت مطلوب و قابل رقابت با سنسورهای صنعتی و گران‌ قیمت حاصل شده است

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Implementation and Comparison of Attitude Estimation Algorithms Using Low-Cost Sensors

نویسندگان [English]

  • M. Navabi 1
  • M. Salehi 2

1 Associate Professor, Faculty of New Technologies Engineering, Shahid Beheshti of University., Tehran, Iran

2 M. Sc. Faculty of New Technologies Engineering, Shahid Beheshti University, Tehran, Iran

چکیده [English]

In a flying system, attitude control is one of the essential subsystems. In this subsystem, estimating the current state is very important to control the state, which is achieved by considering the attitude sensors. Comprehensive research is being done today to reduce the cost of Attitude sensors in applications such as drones, satellite simulation platforms, etc. For this purpose, sensors based on Micro-electromechanical Systems have received much attention due to their small size and low energy consumption. This model of sensors, despite its many advantages, has various noises and disturbances that require the application of fusion and estimation algorithms to obtain an acceptable output. In this research, to determine the attitude of the test platform, data fusion algorithms including complementary filter, Kalman filter, and Extended Kalman filter are implemented on a low-cost sensor. The mentioned estimation methods were implemented on the test platform and by determining the effective parameters in the estimation algorithms, the desired accuracy was obtained. The module obtained in these experiments is comparable to more expensive sensors.

کلیدواژه‌ها [English]

  • Attitude estimation
  • inexpensive sensors
  • Kalman filter
  • Complementary filter
  • Extended Kalman filter
  • Attitude simulator
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