Dp 307 en
Estimation of Angular Positions of a UAV from Inertial Measurements
Author: Antonio Francisco Valenca de Affonseca
This project consists of the design and development of a navigational unit for a UAV (Unmanned Air Vehicle). The purpose is to design from scratch a device that would use three accelerometers, three gyroscopes, a magnetometer and a GPS to provide an estimation of the angular position of the UAV. The tasks involved selecting appropriate sensors, designing a circuit board, assembling the board, connecting the sensors and testing them. A mathematical model of the plane dynamics was also provided to increase the accuracy of the measurement. One extra task was to translate this model, provided in MatLab, into C code.