Кваліфікаційні роботи здобувачів вищої освіти кафедри аерокосмічних систем управління

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Browsing Кваліфікаційні роботи здобувачів вищої освіти кафедри аерокосмічних систем управління by Author "Habliuk, Yevhen"

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    Complementary filter for determining the orientation of the UAV
    (National Aviation University, 2023-06-22) Habliuk, Yevhen; Габлюк, Євген Олександрович
    The latest developments in autonomous vehicle technology have made unmanned aerial vehicles (UAVs) a highly desirable option for modern military and civilian applications. These include aerial photography, pipeline and power line inspection, disaster assessment, remote sensing and cruise missile deployment. In order to operate unmanned aerial vehicles (UAVs), whether manually or with computer assistance, it is crucial to have knowledge of their orientation, velocity, and position. However, when cost or weight limitations is an issue, the use of high-precision inertial navigation systems becomes impractical. As a result, low-cost alternatives have gained popularity, employing inertial sensors based on microelectromechanical systems (MEMS). These MEMS-based systems offer a cost-effective solution but come with certain limitations. They are inclined to increased sensor noise, drift, and impulse accelerations, which can result in potential errors in reporting roll, pitch, and yaw angles. Despite these drawbacks, inertial navigation system remains a critical component for ensuring the safe and reliable flight of UAVs, providing essential information about their orientation in three-dimensional space. Inertial Navigation Systems (INS) performed as the fundamental on-board navigation equipment for different vehicles [6,7]. They provide comprehensive information regarding the present orientation, motion characteristics, and position of a moving object. INS incorporates sensors that measure linear acceleration and angular velocity. These sensors aid in determining the discrepancy between the coordinate system of the instrument body and the Earth coordinate system, thereby providing orientation angles such as roll, pitch, and yaw. By integrating the readings from the accelerometer, the INS enables the calculation of the positional deviation in terms of latitude, longitude, and altitude.The key feature of a non-platform Inertial Navigation System (INS) is the rigid attachment of the inertial sensor block to the object's axes within the body. In this case, the geographic coordinate system is not physically modeled by a gimballed platform, but is calculated analytically, requiring higher accuracy inertial sensors than platform-based systems regardless of their type.