Attitude Solving Algorithm and FPGA Implementation of Four-Rotor UAV Based on Improved Mahony Complementary Filter

Zhu, Yanping; Liu, Jing; Rong, Yu; Mu, Zijian; Huang, Lei; Chen, Jinli; Chen, Jianan

doi:10.3390/s22176411

Cited by 13 publications

(6 citation statements)

References 31 publications

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“…The Eulerian angles refer to the roll, pitch, and yaw [ 29 ], whose calculation was based on the data acquired by the posture sensors (MPU9250) and on the acceleration, angular velocity, and magnetic field intensity on the three axes [ 30 ].…”

Section: Discussionmentioning

confidence: 99%

Master–Slave Control System for Virtual–Physical Interactions Using Hands

Liu

Sun

2023

Sensors

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Among the existing technologies for hand protection, master–slave control technology has been extensively researched and applied within the field of safety engineering to mitigate the occurrence of safety incidents. However, it has been identified through research that traditional master–slave control technologies no longer meet current production and lifestyle needs, and they have even begun to pose new safety risks. To resolve the safety risks exposed by traditional master–slave control, this research fuses master–slave control technology for hands with virtual reality technology, and the design of a master–slave control system for hands based on virtual reality technology is investigated. This study aims to realize the design of a master–slave control system for virtual–physical interactions using hands that captures the position, orientation, and finger joint angles of the user’s hand in real time and synchronizes the motion of the slave interactive device with that of a virtual hand. With amplitude limiting, jitter elimination, and a complementary filtering algorithm, the original motion data collected by the designed glove are turned into a Kalman-filtering-algorithm-based driving database, which drives the synchronous interaction of the virtual hand and a mechanical hand. As for the experimental results, the output data for the roll, pitch, and yaw were in the stable ranges of −0.1° to 0.1°, −0.15° to 0.15°, and −0.15° to 0.15°, respectively, which met the accuracy requirements for the system’s operation under different conditions. More importantly, these data prove that, in terms of accuracy and denoising, the data-processing algorithm was relatively compatible with the hardware platform of the system. Based on the algorithm for the virtual–physical interaction model, the authors introduced the concept of an auxiliary hand into the research, put forward an algorithmic process and a judgement condition for the stable grasp of the virtual hand’s, and solved a model-penetrating problem while enhancing the immersive experience during virtual–physical interactions. In an interactive experiment, a dynamic accuracy test was run on the system. As shown by the experimental data and the interactive effect, the system was satisfactorily stable and interactive.

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Section: Discussionmentioning

confidence: 99%

Master–Slave Control System for Virtual–Physical Interactions Using Hands

Liu

Sun

2023

Sensors

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“…Aiming at the structural characteristics of coaxial twin-rotor UAVs and considering the sensor noise, the extended Kalman filtering algorithm and unscented Kalman filtering algorithm models are established [11]. The established nonlinear equation is shown in Equation (15).…”

Section: Attitude Estimation Methodsmentioning

confidence: 99%

Research on Attitude Detection and Flight Experiment of Coaxial Twin-Rotor UAV

You

Hao

et al. 2022

Sensors

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Aiming at the problem that the single sensor of the coaxial UAV cannot accurately measure attitude information, a pose estimation algorithm based on unscented Kalman filter information fusion is proposed. The kinematics and dynamics characteristics of coaxial folding twin-rotor UAV are studied, and a mathematical model is established. The common attitude estimation methods are analyzed, and the extended Kalman filter algorithm and unscented Kalman filter algorithm are established. In order to complete the test of the prototype of a small coaxial twin-rotor UAV, a test platform for the dynamic performance and attitude angle of the semi-physical flight of the UAV was established. The platform can analyze the mechanical vibration, attitude angle and noise of the aircraft. It can also test and analyze the characteristics of the mechanical vibration and noise produced by the UAV at different rotor speeds. Furthermore, the static and time-varying trends of the pitch angle and yaw angle of the Kalman filter attitude estimation algorithm is further analyzed through static and dynamic experiments. The analysis results show that the attitude estimation of the UKF is better than that of the EKF when the throttle is between 0.2σ and 0.9σ. The error of the algorithm is less than 0.6°. The experiment and analysis provide a reference for the optimization of the control parameters and flight control strategy of the coaxial folding dual-rotor aircraft.

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“…Nowadays, FPGAs are considered a powerful device to deploy different applications using a hardware architecture described as intellectual property (IP), which means processing, memory, control, and communication that can connect multiple IPs to increase scalability. Due to FPGA' functionalities, mainly in processing large workloads efficiently, they are found in applications in the following areas: 5G open Radio Access Network (RAN) [20], prototype design [21], machine learning [22], deep learning [23], reinforcement learning [24], real-time face recognition [16], unmanned aerial vehicle control [25], multi-signal processing [26] and related to this review, trusted execution environments [27].…”

Section: A Field Programmable Gate Arrays (Fpgas)mentioning

confidence: 99%

A Survey of Trusted Computing Solutions Using FPGAs

2023

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Ensuring the security and privacy of computation and data management in the cloud and edge is an ever-important requirement. There are several working solutions today for trusted computing with general purpose processors, for instance, Intel SGX and ARM TrustZone. However, with the widespread commercial adoption of specialized hardware accelerators in the cloud and at the edge, most importantly FPGAs, two questions emerge: 1) How secure are they against threats? and 2) How could FPGAs be utilized for more efficient trusted computing? In this survey, we investigate these two questions precisely. Even though there have been numerous surveys in the past on the security of FPGAs, we believe it is timely to study the space of related work again, given the large number of data-centric applications aimed at targeting trusted execution environments that have recently appeared. Therefore, in addition to presenting an overview of state of the art, we also highlight some opportunities for FPGAs in the context of providing efficient trusted computation.

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Attitude Solving Algorithm and FPGA Implementation of Four-Rotor UAV Based on Improved Mahony Complementary Filter

Cited by 13 publications

References 31 publications

Master–Slave Control System for Virtual–Physical Interactions Using Hands

Master–Slave Control System for Virtual–Physical Interactions Using Hands

Research on Attitude Detection and Flight Experiment of Coaxial Twin-Rotor UAV

A Survey of Trusted Computing Solutions Using FPGAs

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