Modelling inertial measurement unit error parameters for an unmanned air vehicle

Year 2024, Volume: 66 Issue: 1, 64 - 81, 14.06.2024

Bağış Altınöz , Hüsamettin Eken , Anıl Cönger , Sultan Can

https://doi.org/10.33769/aupse.1308165

Abstract

This paper demonstrates a study that focuses on the modeling, design, and realization of an Inertial Measurement Unit (IMU) component for the use of Unmanned Aerial Vehicles (UAV). The experimental data is obtained by multiple flights conducted by the realized UAV (Teknofest–SEMRUK team UAV). The structure is remodeled for increasing the accuracy, and performance of the UAV after the conducted flights. Noise parameters are estimated throughout the Allan variance analysis. MEMS technology-based capacitive-type accelerometers and gyroscopes are preferred. This paper also discusses the error types and compares the real data with the modeled simulation data. Systematic errors of the inertial sensors are simulated according to their datasheet parameters. Sensor filters and noise are modeled and they are also implemented in the simulation. Simulation results and UAV measurements are compared to observe the efficiency of modeling. A complementary filter is presented and combined with a magnetometer, accelerometer, and gyroscope to obtain the ultimate design. The comparison showed a satisfactory agreement among the complementary filter measurements and UAV measurements in the stable position and the results presented.

Keywords

Complementary filter, inertial measurement unit, sensors, unmanned aerial vehicles

Supporting Institution

Ankara üniversitesi BAP, TUSAŞ

Project Number

21Ö0443002

Thanks

We gratefully acknowledge the financial support by Scientific Research Projects of Ankara University (BAP) under Grant no 21Ö0443002. We would also like to thank SEMRUK team members and Dr. Tolga İnal for their support and contribution to the Teknofest UAV competition and TUSAŞ lift-up projects.

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