Micro Unmanned Helicopter Integrated Navigation System And Design

The micro unmanned helicopter is widely used in both military and civil areas and hasbeen a study object for many institutions and organizations all over the world. Thenavigation system is one of the most important parts of the miniature helicopter, as it is thebase of its security and flight controlling.This thesis focuses on the design and implementation of the integrated navigationsystem of the micro unmanned helicopter. The system, which employs DSP as its corehardware, includes the circuitry modules function in sensor data collection, motorcontrolling, wireless communications and power supply. And several software modulessuch as data collection and processing, navigation arithmetic and flight controlling areimplemented on it. This thesis also adopts the federated Kalman filtering scheme forSINS/GPS/DC integrated system and builds the corresponding mathematic models. Thetwo sub-systems, Global Position System and Digital Compass, are used to integrate withStrap-down Inertial Navigation System (SINS). The simulation results indicate theeffectiveness of the federated Kalman filtering scheme.