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- W2187788799 abstract "Autonomous aerial vehicles needtonavigate as wellascontrol themselves inrealtimewithout anyhuman intervention. Thisrequirement imposes animmense pressure on theprocessing powersaswellastheaccuracy ofsensors usedfor navigation. MicroAerial Vehicles (MAVs)havepayloadand powerconstraints thatprohibit useofhighly accurate sensors andpowerful processors. Thispaperpresents implementation of anattitude andheading reference system(AHRS)using lowcost MicroElectro Mechanical System(MEMS)sensors andField ProgrammableGate Array (FPGA).This hardware implementation ofAHRS hasenabled ustoachieve attitude updaterateof20.0microseconds necessary forhighspeed control loopwithpowerconsumption of110mW. Thetarget FPGA usedforthis workisXilinx Spartan IIIx3cs1500 which provides sufficient logic forimplementation ofAHRS algorithm. Theworkpresented hereisthefirst steptowards a dedicated guidance chipforMAVs thatwill beabletonavigate aswellas control an MAV autonomously. Simulation andhardware implementation results were comparedwithCrossbow's AHRS400 whichshow thatthe designissuitable for implementing AHRS forMAVs andsmallUnmannedAerial Vehicles (UAVs). IndexTerms- MicroAerial Vehicles, Attitude andHeading Reference System, FieldProgrammable GateArray, Guidance Chip." @default.
- W2187788799 created "2016-06-24" @default.
- W2187788799 creator A5014111375 @default.
- W2187788799 date "2006-01-01" @default.
- W2187788799 modified "2023-09-27" @default.
- W2187788799 title "Towards Guidance ChipforMicroAerial Vehicles" @default.
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- W2187788799 hasPublicationYear "2006" @default.
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