Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/58085
Title: Investigating the use of a low-cost inertial measurement unit for unmanned applications
Authors: Sim, Kai
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2011
Abstract: This dissertation will first introduce the background and motivation for working on a low-cost Inertial Measurement Unit. A literature review of past and present efforts to use low-cost Inertial Measurement Units for various applications is conducted. The characteristics of the ArduPilot Mega Inertial Measurement Unit and how static acceleration output from the accelerometer and the gyroscope output can be used to assess the three-dimensional orientation of an object are discussed, with the finding that the ArduPilot Mega's dynamic acceleration is useful insofar as providing an indication of impulse acceleration, but is not a good means of performing velocity and displacement tracking. Filtering can help to improve the results of the ArduPilot Mega by fusing both accelerometer and gyroscope outputs together. It is shown that the ArduPilot Mega Inertial Measurement Unit can be used in an Unmanned Ground Vehicle navigation application by just using 1 Degree Of Freedom information from the gyroscope z-axis (yaw) output combined with Global Positioning System signals. Following which, there is further discussion on how sensor fusion could be implemented in the Unmanned Ground Vehicle if the hardware is able to support odometry sensors. Finally, the application of the ArduPilot Mega on a more challenging problem - stabilization of a quadrotor Unmanned Aerial Vehicle - will be discussed in the last part of this dissertation.
Description: 82 p.
URI: http://hdl.handle.net/10356/58085
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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