A15 安価GPSを用いた小型電動ヘリコプタの誘導制御(OS3 ロボットのダイナミクスと制御1)

概要

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In this paper, guidance control of small electric helicopter with low cost GPS is presented. In the case of small helicopter, the payload limitation is tight by comparison with larger one. So, we should use light weight, low cost and low accuracy GPS. At first, we combine the low cost GPS and a inertial navigation system(INS) with low accuracy inertia sensor, and INS/GPS composition navigation system is designed. And next, horizontal velocity and position model of small helicopter is derived, and then, guidance controller for small unmanned helicopter are designed by using model base control method. Finally, a flight control experiment with INS/GPS system is carried out, and the experimental results show the effectiveness of suggested navigation system and controller.
一般社団法人日本機械学会の論文
2009-09-01