An inertial navigation system uses accelerometers and gyroscopes to calculate a vehicle's position, speed, and orientation in real time without needing external references. It integrates acceleration measurements to determine speed and position over time and integrates angular rate measurements to determine attitude. However, MEMS sensors used in these systems are prone to noise, bias drift from temperature changes, and errors, requiring redundant sensors and techniques like Kalman filtering to compensate.
Total stations are surveying instruments that electronically measure angles and distances to calculate locations of points. They combine an electronic distance meter, theodolite, and microprocessor. Measurements can achieve angular accuracy of 1-20 seconds and linear accuracy of 2-10 mm per km. Total stations are used for topographic surveys, construction layout, and other applications. Proper use requires careful centering, accurate pointing, averaging multiple measurements, and accounting for environmental factors.
This document discusses inertial navigation sensor calibration. It provides an introduction to inertial navigation sensors and methods for calibrating accelerometers and gyroscopes. It describes the components of an inertial measurement unit and common calibration methods like the six position static test. Applications of inertial sensors in areas like navigation, tracking, and robotics are also mentioned.
Better motion control using accelerometer/gyroscope sensor fusionGabor Paller
This document discusses using accelerometer and gyroscope sensor fusion to improve motion control. It begins by reviewing a previous presentation on using only an accelerometer for motion recognition. It then describes how each sensor - accelerometer, gyroscope, and compass - measures motion differently, with strengths and weaknesses. The main idea is to use a gyroscope to compensate for the gravity component detected by the accelerometer, allowing separation of gravity from motion acceleration. This allows more accurate motion recognition compared to using just acceleration. Implementation examples and conclusions are provided on potential applications and approaches to sensor fusion.
What is a Total Station?
Capability of a Total Station
Important Operations of Total Station
Uses of Total Station
Advantages of Using Total Stations
Applications
This document provides an overview of electronic distance measuring (EDM) devices and total stations used for surveying. It discusses the history and evolution of surveying techniques from manual methods to modern EDMs and total stations. Key points covered include:
- How total stations integrate an electronic theodolite and EDM to measure angles and distances, then use trigonometry to calculate coordinates.
- Features of Pentax total stations like automatic environmental sensing, auto focusing, and narrow visible beams that improve accuracy and efficiency.
- Software tools like Power Topolite, PSF, and Pythagoras that support data collection, calculations, stakeout, and CAD functions on Pentax total stations.
This document provides information about GPS (Global Positioning System) and planimeters. It describes the three main parts of GPS as satellites, receivers, and software. It explains how GPS works by using signals from satellites to calculate a receiver's distance and position on Earth. Examples of GPS applications include navigation, agriculture, surveying, and more. The document also gives an overview of how planimeters can be used to accurately measure the area of any shape on a plane or map. It describes the two main types of planimeters as polar and roller planimeters.
An inertial navigation system uses accelerometers and gyroscopes to calculate a vehicle's position, speed, and orientation in real time without needing external references. It integrates acceleration measurements to determine speed and position over time and integrates angular rate measurements to determine attitude. However, MEMS sensors used in these systems are prone to noise, bias drift from temperature changes, and errors, requiring redundant sensors and techniques like Kalman filtering to compensate.
Total stations are surveying instruments that electronically measure angles and distances to calculate locations of points. They combine an electronic distance meter, theodolite, and microprocessor. Measurements can achieve angular accuracy of 1-20 seconds and linear accuracy of 2-10 mm per km. Total stations are used for topographic surveys, construction layout, and other applications. Proper use requires careful centering, accurate pointing, averaging multiple measurements, and accounting for environmental factors.
This document discusses inertial navigation sensor calibration. It provides an introduction to inertial navigation sensors and methods for calibrating accelerometers and gyroscopes. It describes the components of an inertial measurement unit and common calibration methods like the six position static test. Applications of inertial sensors in areas like navigation, tracking, and robotics are also mentioned.
Better motion control using accelerometer/gyroscope sensor fusionGabor Paller
This document discusses using accelerometer and gyroscope sensor fusion to improve motion control. It begins by reviewing a previous presentation on using only an accelerometer for motion recognition. It then describes how each sensor - accelerometer, gyroscope, and compass - measures motion differently, with strengths and weaknesses. The main idea is to use a gyroscope to compensate for the gravity component detected by the accelerometer, allowing separation of gravity from motion acceleration. This allows more accurate motion recognition compared to using just acceleration. Implementation examples and conclusions are provided on potential applications and approaches to sensor fusion.
What is a Total Station?
Capability of a Total Station
Important Operations of Total Station
Uses of Total Station
Advantages of Using Total Stations
Applications
This document provides an overview of electronic distance measuring (EDM) devices and total stations used for surveying. It discusses the history and evolution of surveying techniques from manual methods to modern EDMs and total stations. Key points covered include:
- How total stations integrate an electronic theodolite and EDM to measure angles and distances, then use trigonometry to calculate coordinates.
- Features of Pentax total stations like automatic environmental sensing, auto focusing, and narrow visible beams that improve accuracy and efficiency.
- Software tools like Power Topolite, PSF, and Pythagoras that support data collection, calculations, stakeout, and CAD functions on Pentax total stations.
This document provides information about GPS (Global Positioning System) and planimeters. It describes the three main parts of GPS as satellites, receivers, and software. It explains how GPS works by using signals from satellites to calculate a receiver's distance and position on Earth. Examples of GPS applications include navigation, agriculture, surveying, and more. The document also gives an overview of how planimeters can be used to accurately measure the area of any shape on a plane or map. It describes the two main types of planimeters as polar and roller planimeters.
Total station is a surveying instrument that combines an electronic distance meter (EDM), an electronic theodolite, and a microprocessor. It can measure horizontal and vertical angles as well as sloping distances to target objects. Total stations provide accurate linear, angular, and elevation measurements and allow for automated data collection in the field. They have largely replaced traditional surveying equipment like tapes, levels, and transits due to their increased speed, accuracy, and capabilities.
Handheld device motion tracking using MEMS gyros and accelerometeranusheel nahar
This document discusses using MEMS gyroscopes and accelerometers for motion tracking in gaming applications. It describes how gyroscopes measure angular velocity and accelerometers measure acceleration. Integration of gyroscope data causes drift over time, while accelerometer and magnetometer data can be fused to estimate orientation. The document proposes a method using a modified Kalman filter to fuse the sensor data and estimate orientation without boundless drift. Simulation results show the method accurately tracks motion while overcoming noise and drift issues better than a standard Kalman filter.
Total station is a modern surveying instrument that combines an electronic theodolite and electronic distance meter. It allows the user to determine coordinates of points by measuring horizontal and vertical angles and slope distances to a reflector target simultaneously. The total station records measurements directly into its internal microprocessor, allowing precise data collection and processing without manual calculations. It has made surveying work faster, more accurate and less tedious compared to traditional instruments.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
SURVEYING - Photogrammetry (CE 115) Lec2 By Afia Narzis Spring 2016PIYAL Bhuiyan
Photogrammetry is a method of surveying that uses photographs to prepare maps and plans. There are two main types: terrestrial photogrammetry uses ground-based photos, while aerial photogrammetry uses photos taken from aircraft. Aerial photogrammetry involves advanced planning, flying missions to take overlapping vertical photos with specialized cameras, conducting ground control surveys, and compiling the photos into maps. It is used for tasks like topographic mapping, infrastructure planning, and military surveillance.
Photogrammetry is the technique of obtaining reliable spatial information about physical objects through analyzing photographs. It involves taking overlapping aerial photographs from an elevated position and processing them using software to extract 3D spatial data and produce accurate maps, models and measurements. The key outputs of photogrammetry include digital elevation models (DEMs), digital terrain models (DTMs), contour maps, orthophotos and 3D city models. Photogrammetry provides precise, cost-effective representations of geographic features and terrain.
This document discusses three methods for measuring height from aerial photographs: relief displacement, shadow length, and stereoscopic parallax. Relief displacement measures height by how far an object is shifted from its true position in an aerial photo due to its elevation. Shadow length measures height by using the length of an object's shadow and the sun angle. Stereoscopic parallax measures height by comparing the difference in an object's position between two overlapping aerial photos taken from different positions. Formulas are provided for calculating height from measurements obtained using each of these three methods.
Photogrammetry is the science of making measurements from photographs, especially to determine the exact positions of surface points. It involves planning and taking photographs, processing the photographs, and measuring the photographs to produce results like maps. Photogrammetry can be used for topographic surveys, engineering surveys, geological mapping, and urban and regional planning applications. There are two main types of photographs used in photogrammetry: terrestrial photographs taken from fixed positions on the ground using a phototheodolite, and aerial photographs taken from an aerial camera mounted on an aircraft.
A small description about the principle and operation of widely used instrument 'Total Station' in Civil Engineering and Global Positioning System through a technical view...!
This document discusses various instruments used in surveying operations. It describes tripods, level staffs, total stations, clinometers, compasses, GPS, theodolites, and prisms. Tripods are used to support surveying instruments. Level staffs allow determination of elevation differences. Total stations can read distances electronically. Clinometers measure angles of inclination. Compasses determine directions relative to magnetic poles. GPS uses satellites to calculate positions. Theodolites measure horizontal and vertical angles. Prisms are targets used with total stations.
The document summarizes the principles and working of a total station. It describes a total station as an electronic theodolite integrated with an electronic distance meter that can measure slope distances. It discusses the parts of a total station and how they work using polar coordinates to determine a point's position through angle and distance measurements. The document outlines the advantages of total stations in allowing quick data collection and layout for construction sites. It also notes some disadvantages like less accurate vertical measurements compared to traditional surveying methods.
IRJET- Modular Rescue and Surveillance DroneIRJET Journal
This document describes a modular rescue and surveillance drone that can navigate both in the air and on the ground. It uses a tilt mechanism to allow the multirotor motors to propel the drone forward and backward on the ground without adding extra weight. It also includes a 3D mapping lidar system to map environments and modular attachment points to add different payloads. The drone is able to switch between an air mode where the arms are upright for flight and a ground mode where the arms tilt to allow ground movement. This innovative design allows the drone to access more areas for rescue and surveillance operations while keeping the weight low.
Abstract— This research paper with how to facilitate and manage surveying instrument theodolite and total satiation and take more accuracy for civil works methods to accomplish modernized and cost effective urban survey with best achievable accuracy. This is done by surveying methods with modern methods from both theoretical and practical point of view. At first, a theoretical assessment process on a tradition urban planning project in India is performed by replacing other instrument of surveying techniques previously used with more applicable surveying techniques as theodolite and total stations, regarding different matters such as applicability, cost and accuracy. After approving the main idea of this modernization process, a practical urban planning case study is performed using total station, geodetic GPS receivers and GPS navigators, on a private sectors The applied surveying techniques showed high efficiency regarding cost and effort, while saving observation time reaching to 80%. Accordingly, the adopted practical application proved to be beneficial for all civil sites.
This document provides an overview of photogrammetry, including its history from 1839 to present day uses of aerial imagery and digital sensors. Key aspects covered include accuracy standards, aerial imagery collection and sensor types, ground control, analytical triangulation to tie imagery together, stereo compilation for mapping, collection of planimetric and topographic data, digital orthophotography, and common data formats. Photogrammetry involves estimating real-world coordinates for ground objects based on perspective and sensor location in two or more images.
Aerial surveying technology is utilized in a wide range of fields throughout the world. These range from the creation of maps, to terrain analysis and research (rivers, soil erosion, coasts, etc.), urban planning, road planning (roads, rails, etc.), and vegetation research (forests, agriculture, lakes and marshland, etc.).
(1) Some theodolites individually test for circle error and store a correction factor to adjust angle readings for more accuracy.
(2) Other instruments use rotating glass circles scanned by sensors to measure angles, averaging readings to eliminate errors from scale graduations and circle eccentricity.
(3) Electronic theodolites can correct for horizontal collimation error through field adjustments, though some instruments only apply corrections to one side of the circle, causing readings to change by twice the error when passing through zenith. Operators should turn 180 degrees or plunge and adjust the horizontal tangent to keep readings consistent when prolonging lines.
Aerial photogrammetry vs. terrestrial photogrammetryNI BT
The photogrammetry is broadly classified into two types as Aerial Photogrammetry and Terrestrial Photogrammetry. Aerial and Terrestrial photogrammetry are used for mapping and measurement related issues. Aerial is far range & terrestrial is close range photogrammetry
1) A non-nominal separation of the ALMASat-1 satellite from its VEGA launcher caused it to tumble with an angular rate of ~102°/s.
2) Hysteresis rods can be used as a passive magnetic angular rate damping system and solar cells mounted at angles can estimate angular rate to determine attitude during tumbling.
3) Accurate attitude estimation is achieved in nominal conditions using a multi-rate Kalman filter, but re-initialization is needed after eclipse periods.
Leveling the total station properly is critical and involves several steps: leveling the tripod, mounting the instrument, focusing the optical plummet on the survey point, and then electronically leveling the instrument by centering the bubble using the leveling screws. The total station can then be calibrated by performing a backsight using either known coordinates or a known angle to define the instrument's coordinate system, or by resection, where 3 or more known survey points are used to automatically calculate the instrument's coordinates. Calibration must be completed before accurate 3D coordinates can be obtained.
Development of an Integrated Attitude Determination System for Small Unmanned...IRJET Journal
This document presents a study that developed an integrated attitude determination system for small unmanned aerial vehicles (UAVs) based on the principles of simple neural networks. The system fuses data from sensors like gyroscopes, accelerometers, magnetometers, and GPS to determine vehicle attitude. Individual sensor solutions are combined using weights based on sensor error and deviation from the mean attitude. The algorithm was evaluated by comparing its outputs to those of a traditional attitude determination system on a commercial UAV. Results found good agreement, validating the proposed approach as a computationally efficient alternative.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
Total station is a surveying instrument that combines an electronic distance meter (EDM), an electronic theodolite, and a microprocessor. It can measure horizontal and vertical angles as well as sloping distances to target objects. Total stations provide accurate linear, angular, and elevation measurements and allow for automated data collection in the field. They have largely replaced traditional surveying equipment like tapes, levels, and transits due to their increased speed, accuracy, and capabilities.
Handheld device motion tracking using MEMS gyros and accelerometeranusheel nahar
This document discusses using MEMS gyroscopes and accelerometers for motion tracking in gaming applications. It describes how gyroscopes measure angular velocity and accelerometers measure acceleration. Integration of gyroscope data causes drift over time, while accelerometer and magnetometer data can be fused to estimate orientation. The document proposes a method using a modified Kalman filter to fuse the sensor data and estimate orientation without boundless drift. Simulation results show the method accurately tracks motion while overcoming noise and drift issues better than a standard Kalman filter.
Total station is a modern surveying instrument that combines an electronic theodolite and electronic distance meter. It allows the user to determine coordinates of points by measuring horizontal and vertical angles and slope distances to a reflector target simultaneously. The total station records measurements directly into its internal microprocessor, allowing precise data collection and processing without manual calculations. It has made surveying work faster, more accurate and less tedious compared to traditional instruments.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
SURVEYING - Photogrammetry (CE 115) Lec2 By Afia Narzis Spring 2016PIYAL Bhuiyan
Photogrammetry is a method of surveying that uses photographs to prepare maps and plans. There are two main types: terrestrial photogrammetry uses ground-based photos, while aerial photogrammetry uses photos taken from aircraft. Aerial photogrammetry involves advanced planning, flying missions to take overlapping vertical photos with specialized cameras, conducting ground control surveys, and compiling the photos into maps. It is used for tasks like topographic mapping, infrastructure planning, and military surveillance.
Photogrammetry is the technique of obtaining reliable spatial information about physical objects through analyzing photographs. It involves taking overlapping aerial photographs from an elevated position and processing them using software to extract 3D spatial data and produce accurate maps, models and measurements. The key outputs of photogrammetry include digital elevation models (DEMs), digital terrain models (DTMs), contour maps, orthophotos and 3D city models. Photogrammetry provides precise, cost-effective representations of geographic features and terrain.
This document discusses three methods for measuring height from aerial photographs: relief displacement, shadow length, and stereoscopic parallax. Relief displacement measures height by how far an object is shifted from its true position in an aerial photo due to its elevation. Shadow length measures height by using the length of an object's shadow and the sun angle. Stereoscopic parallax measures height by comparing the difference in an object's position between two overlapping aerial photos taken from different positions. Formulas are provided for calculating height from measurements obtained using each of these three methods.
Photogrammetry is the science of making measurements from photographs, especially to determine the exact positions of surface points. It involves planning and taking photographs, processing the photographs, and measuring the photographs to produce results like maps. Photogrammetry can be used for topographic surveys, engineering surveys, geological mapping, and urban and regional planning applications. There are two main types of photographs used in photogrammetry: terrestrial photographs taken from fixed positions on the ground using a phototheodolite, and aerial photographs taken from an aerial camera mounted on an aircraft.
A small description about the principle and operation of widely used instrument 'Total Station' in Civil Engineering and Global Positioning System through a technical view...!
This document discusses various instruments used in surveying operations. It describes tripods, level staffs, total stations, clinometers, compasses, GPS, theodolites, and prisms. Tripods are used to support surveying instruments. Level staffs allow determination of elevation differences. Total stations can read distances electronically. Clinometers measure angles of inclination. Compasses determine directions relative to magnetic poles. GPS uses satellites to calculate positions. Theodolites measure horizontal and vertical angles. Prisms are targets used with total stations.
The document summarizes the principles and working of a total station. It describes a total station as an electronic theodolite integrated with an electronic distance meter that can measure slope distances. It discusses the parts of a total station and how they work using polar coordinates to determine a point's position through angle and distance measurements. The document outlines the advantages of total stations in allowing quick data collection and layout for construction sites. It also notes some disadvantages like less accurate vertical measurements compared to traditional surveying methods.
IRJET- Modular Rescue and Surveillance DroneIRJET Journal
This document describes a modular rescue and surveillance drone that can navigate both in the air and on the ground. It uses a tilt mechanism to allow the multirotor motors to propel the drone forward and backward on the ground without adding extra weight. It also includes a 3D mapping lidar system to map environments and modular attachment points to add different payloads. The drone is able to switch between an air mode where the arms are upright for flight and a ground mode where the arms tilt to allow ground movement. This innovative design allows the drone to access more areas for rescue and surveillance operations while keeping the weight low.
Abstract— This research paper with how to facilitate and manage surveying instrument theodolite and total satiation and take more accuracy for civil works methods to accomplish modernized and cost effective urban survey with best achievable accuracy. This is done by surveying methods with modern methods from both theoretical and practical point of view. At first, a theoretical assessment process on a tradition urban planning project in India is performed by replacing other instrument of surveying techniques previously used with more applicable surveying techniques as theodolite and total stations, regarding different matters such as applicability, cost and accuracy. After approving the main idea of this modernization process, a practical urban planning case study is performed using total station, geodetic GPS receivers and GPS navigators, on a private sectors The applied surveying techniques showed high efficiency regarding cost and effort, while saving observation time reaching to 80%. Accordingly, the adopted practical application proved to be beneficial for all civil sites.
This document provides an overview of photogrammetry, including its history from 1839 to present day uses of aerial imagery and digital sensors. Key aspects covered include accuracy standards, aerial imagery collection and sensor types, ground control, analytical triangulation to tie imagery together, stereo compilation for mapping, collection of planimetric and topographic data, digital orthophotography, and common data formats. Photogrammetry involves estimating real-world coordinates for ground objects based on perspective and sensor location in two or more images.
Aerial surveying technology is utilized in a wide range of fields throughout the world. These range from the creation of maps, to terrain analysis and research (rivers, soil erosion, coasts, etc.), urban planning, road planning (roads, rails, etc.), and vegetation research (forests, agriculture, lakes and marshland, etc.).
(1) Some theodolites individually test for circle error and store a correction factor to adjust angle readings for more accuracy.
(2) Other instruments use rotating glass circles scanned by sensors to measure angles, averaging readings to eliminate errors from scale graduations and circle eccentricity.
(3) Electronic theodolites can correct for horizontal collimation error through field adjustments, though some instruments only apply corrections to one side of the circle, causing readings to change by twice the error when passing through zenith. Operators should turn 180 degrees or plunge and adjust the horizontal tangent to keep readings consistent when prolonging lines.
Aerial photogrammetry vs. terrestrial photogrammetryNI BT
The photogrammetry is broadly classified into two types as Aerial Photogrammetry and Terrestrial Photogrammetry. Aerial and Terrestrial photogrammetry are used for mapping and measurement related issues. Aerial is far range & terrestrial is close range photogrammetry
1) A non-nominal separation of the ALMASat-1 satellite from its VEGA launcher caused it to tumble with an angular rate of ~102°/s.
2) Hysteresis rods can be used as a passive magnetic angular rate damping system and solar cells mounted at angles can estimate angular rate to determine attitude during tumbling.
3) Accurate attitude estimation is achieved in nominal conditions using a multi-rate Kalman filter, but re-initialization is needed after eclipse periods.
Leveling the total station properly is critical and involves several steps: leveling the tripod, mounting the instrument, focusing the optical plummet on the survey point, and then electronically leveling the instrument by centering the bubble using the leveling screws. The total station can then be calibrated by performing a backsight using either known coordinates or a known angle to define the instrument's coordinate system, or by resection, where 3 or more known survey points are used to automatically calculate the instrument's coordinates. Calibration must be completed before accurate 3D coordinates can be obtained.
Development of an Integrated Attitude Determination System for Small Unmanned...IRJET Journal
This document presents a study that developed an integrated attitude determination system for small unmanned aerial vehicles (UAVs) based on the principles of simple neural networks. The system fuses data from sensors like gyroscopes, accelerometers, magnetometers, and GPS to determine vehicle attitude. Individual sensor solutions are combined using weights based on sensor error and deviation from the mean attitude. The algorithm was evaluated by comparing its outputs to those of a traditional attitude determination system on a commercial UAV. Results found good agreement, validating the proposed approach as a computationally efficient alternative.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
An Automatic Detection of Landing Sites for Emergency Landing of AircraftIRJET Journal
This document proposes an automatic computer system to help pilots detect emergency safe landing sites. The system uses computer vision techniques like image acquisition, panorama creation, horizon detection, edge detection, and segmentation to analyze terrain images. It then uses clustering and dimension assessment to identify and measure potential landing sites. The sites that are smooth and have appropriate length-to-width ratios are detected. Finally, the safe landing site options are visualized on a display for pilots to select from in an emergency situation. The system is intended to help pilots make quick decisions about emergency landings when time is critical.
IRJET- Simultaneous Localization and Mapping for Automatic Chair Re-Arran...IRJET Journal
This document describes a simultaneous localization and mapping (SLAM) technique implemented in an automatic chair re-arrangement system. The system uses an overhead camera and image processing to track a chair's position and orientation. It determines the angle between the chair and its original location, represented by a red dot. The chair has a magnetometer to determine its heading relative to a defined north. The system calculates needed rotations and movements to maneuver the chair back to its original position when displaced. This demonstrates a SLAM solution to automate returning objects like chairs to their proper locations.
Application of Vision based Techniques for Position EstimationIRJET Journal
This document summarizes research on using vision-based techniques to estimate the position of an unmanned aerial vehicle (UAV) from images captured by an onboard camera. Two algorithms - normalized cross-correlation and RANSAC feature detection - are tested and compared. Normalized cross-correlation is faster but less accurate when there is noise, scaling or rotation differences between images. RANSAC is more robust to distortions but slower. Both methods are able to estimate position to within 10 meters of accuracy under ideal conditions. RANSAC fails with high noise levels while normalized cross-correlation requires additional preprocessing to handle noise, reducing its speed advantage.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
This paper presents a vision-based method for autonomous landing of a quadcopter UAV. An onboard camera and NVIDIA Jetson TK1 processor are used to detect the landing platform using SIFT feature extraction and match keypoints between the detected image and a training image. The distance and position of the landing platform relative to the UAV is then estimated. This information is used by the ROS framework to generate control signals to maneuver the UAV's roll and pitch and autonomously land it precisely on the target platform. Experiments show the method can achieve precise landing within 10 cm under steady wind conditions.
Experiment to determine a method for effortless static calibration of the ine...IRJET Journal
This summary provides the key details from the document in 3 sentences:
The document details an experiment conducted to develop a method for static calibration of the inertial measurement unit (IMU) on a small unmanned aerial vehicle (UAV) without using specialized equipment. The study involved collecting raw sensor data from the IMU at rest and processing the measurements to determine calibration parameters, which were then compared to benchmark parameters from an established calibration procedure. The results found that collecting about a minute of static sensor data enables accurate calibration of the IMU, though some parameter values differ from the benchmark method.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation IJECEIAES
The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.
Massmomentsof inertia of joined wing unmanned aerial vehicleeSAT Journals
Abstract Determination of mass moments of inertia of aircraft during the early stages of design is of great importance for the sizing of control surfaces and the evaluation of the dynamic characteristics. In the article are reviewed the problems of the analytic calculation of mass moments of inertia of an unmanned air vehicle at the conceptual design stage, of their automated determination with a CAD/CAMcodeatthedetaileddesignstageandoftheirmeasurementafterexperimentalmodelsareproduced.A comparison is made of the accuracy of the different methods. Keywords: UAV, momentsofinertia, physicalpendulum, torsion pendulum
This document describes a land survey robot that is designed to automatically measure land areas and divide plots of land into subplots. The survey robot uses a microcontroller and ZigBee wireless module to receive movement commands and transmit distance measurements to a PC. It moves around the plot on its own to calculate the total distance traveled, which is then used by an area measurement module on the PC to determine the area of the plot. The robot is able to divide plots into subplots by placing markers as it moves according to a programmed path. The system aims to automate the land survey process for more efficient area measurement compared to conventional surveying techniques.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
measures in our lives. So in this regard, many attempts have been made by researchers and one
of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
land on the ground. This method shows better performance in terms of precision as well as
experimentally.
This document describes an event data recorder (EDR) system for automobiles. The EDR would record vehicle data during and after an accident using sensors like accelerometers and gyroscopes. If an accident is detected, it would send an alert message with the vehicle's location to pre-stored contacts. This would help provide faster medical assistance. The proposed low-cost EDR system aims to record important vehicle parameters without being too expensive to implement in all vehicles like a traditional "black box". It could help determine the causes of accidents and assist insurance companies and police investigations.
This document discusses autopilot mode technology in vehicles. It describes how the technology allows vehicles to self-drive on highways without human control. It works by using components like radars, sensors, GPS, and cameras to guide the vehicle. The technology is aimed at saving time for drivers by allowing them to not actively drive. It could also help reduce accidents caused by driver carelessness or error. The document outlines the various components that make up the autopilot system and how they work together through a central control unit to navigate the vehicle safely. It also discusses some potential applications of this technology like in transportation, military uses, hazardous areas, shipping and public transit.
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
Astronomical Almanac’s Algorithm Based Dual Axis Solar TrackerIRJET Journal
This document describes a dual-axis solar tracking system that uses an algorithm based on data from the Astronomical Almanac to automatically position solar panels towards the sun for maximum energy collection. The system includes a weather station to provide real-time environmental data and allow automatic adjustment of the panel position based on changing weather conditions. An IoT application is used to monitor and access data from the solar tracker and sensors remotely. The tracking mechanism orients the panels through horizontal and vertical rotation controlled by servo motors according to the sun-tracking algorithm or manually through the IoT interface.
This document describes a project to develop a quadrotor drone capable of autonomous navigation in GPS-denied environments using visual sensors. The drone is equipped with an optical flow sensor for velocity and altitude control, an IMU, and cameras for visual SLAM. Software runs ROS and uses a monocular visual odometry algorithm. Initial flight tests show the drone can hold position and velocity with wind. Future work will integrate the visual SLAM for full position control and add safety features.
Similar to MISSION PLANNER GROUND CONTROL STATION (20)
Architecture of ARINC 629 Data Bus For Boeing 777-200ER Commercial Aircraft.pdfMIbrar4
The four ARINC 629 buses which stands for the
Aeronautical Radio INC, is a private organization
comprising members from the airlines, and
manufacturers of aircraft and avionics equipment.
GENERATORS
The Boeing 777 has three main 120 KVA generators for
115–200 Volt AC power.
MISSION MANAGEMENT COMPUTER
Airplane Information Management System (AIMS) made
by Honeywell
OPERATING SYSTEM
MS-DOS
PROCESSOR
Advanced Micro Devices (AMD) 29050 microprocessor
RANDOM-ACCESS MEMORY (RAM)
4,854 KB
DISK SPACE
15,656 kilobytes (KB)
LANGUAGE
Ada programming language
PROGRAM LENGTH
613,000 new lines of code
ARINC 629
The Airplane Information Management System (AIMS) is
the "brains" of Boeing 777 aircraft. It uses four
ARINC 629 buses to transfer information. There are 2
cabinets on each plane (left and right).
ARINC 629 has the ability to accommodate up to a
total of 128 terminals on a data bus and supports a
data rate of 2 Mbit/s.
CABLE (TRANSMISSION MEDIA)
Page 4 of 6
ASD 27 Jan, 2022
The stub cable has four wires, two to transmit and
two to receive. These cables are in the normal
aircraft wiring bundles.
The basic layout for connecting LRUs to the 629 data
bus using stub cables. The stub cable length is up
to 50ft for TX/RX cable and 75ft for RX only cable.
This case study describes an engineering firm, Matz, Childs and Associates, that was not winning public works contracts. The partner, Lester Matz, decided to start giving bribes and campaign contributions to the county executive, Mr. Agnew, to get closer to him and secure contracts. Matz began getting contracts after giving funds to Agnew's campaign. He continued this arrangement, even after Agnew was elected governor and vice president, and Matz received most public works contracts. However, in 1973 an investigation was launched into engineering firms in the area, which found Matz guilty of bribery. Mr. Agnew was fined $10,000 while Matz's firm was not prosecuted after cooperating
Analysis and Design of PID controller with control parameters in MATLAB and S...MIbrar4
• To learn the need of controller
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Demonstrate the implementation PI controller to regulate speed of DC Servo Mo...MIbrar4
Servo system plays an important role in the electromechanical system. Accompanying the
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Motion Studio is an intelligent servo controller development environment with high
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Techno soft intelligent servo drive. Motion system (includes motion system element definition
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PID Controller Simulator Design for Polynomials Transfer FunctionMIbrar4
PID Controller Simulator Design for Polynomials Transfer Function
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State-Space Realizations Using Control Canonical Form and Simulation DiagramMIbrar4
State-Space Realizations Using Control Canonical Form and Simulation
Diagram
Objective:
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Theory
we consider the common and useful form of the simulation diagram, namely, control canonical
form. The simulation diagram is derived from the general transfer functions of the form
Design Compensator Using Automated PID Tuning for a water tank MIbrar4
A compensator is a form of controller designed to alter certain characteristics (such as gain/phase) of the
open-loop system. A compensator is a component in the control system and it is used to regulate another
system. ... In order to make the system behave as desired, it is necessary to redesign the system and add
a compensator, a device which compensates for the deficient performance of the original system.
Control system compensation is the strategy used by the control system designed to improve system
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Provided MATLAB functions, convert the State Space Model into a classical con...MIbrar4
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Compensator Design and parameters modification using Bode plot and root locusMIbrar4
Bode diagram design is an interactive graphical method of modifying a compensator to achieve a
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directly in the Bode Editor, or you can use the Compensator Editor. For more information, see Edit
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Department of Avionics Engineering The Superior University, Lahore Lab Manual...MIbrar4
This lab manual outlines experiments to be conducted in the course AE-4273 Radar Systems. The experiments are designed to help students learn key concepts in radar including signal generation and processing, radar equation, effects of interference, target detection probability, and dependence of target radar cross section on various parameters. The manual lists 14 experiments to be conducted over the course of the semester. The experiments will utilize MATLAB for simulations and involve tasks such as plotting radar range equation variables, analyzing signal to noise ratio against detection range, and understanding interference of signals with different phase angles.
PAF buy retired and old Mirage fighter jets.pptxMIbrar4
The cockpit was modernized with a
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Hands-on throttle and stick (HOTAS) controls
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WHAT IS MEMS ? MEMS Accelerometer MEMS Gyroscope MEMS MagnetometerMIbrar4
This document discusses the components of an inertial measurement unit (IMU), including MEMS accelerometers, gyroscopes, and magnetometers. It explains that MEMS sensors use very small microelectromechanical systems composed of silicon, polymers, metals or ceramics to measure acceleration, angular velocity, and magnetic fields. Accelerometers detect acceleration by measuring changes in capacitance caused by the movement of a mass on a spring. Gyroscopes measure angular rate using the Coriolis effect to induce displacement of a vibrating mass. Magnetometers function by detecting changes in electron flow and voltage caused by magnetic fields.
As radar users see ever increasing
complexity in signal and data
processing, it is tempting to
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detection performance will
become available. However, the
laws of physics have not changed.
and fundamental detection
performance will only improve
slightly as small improvements are
squeezed out of one or other
section of a radar.
What is changing is the ability to
analyze the radar signal in
progressively more detail. High
speed processing is allowing the
use of principles which have long
been understood, but which have
not previously been incorporated
owing to technology limitations.
An airborne radar receives signals
which contain not only target
echoes, but additional inputs from
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and perhaps jamming. The first
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covered here. but suitable
processing techniques can be used
to weaken its effects.
1) On January 15, 2009, US Airways Flight 1549 struck a flock of birds shortly after takeoff from LaGuardia Airport, damaging both engines. Captain Chesley "Sully" Sullenberger was forced to land the Airbus A320 in the Hudson River, saving all 155 lives onboard.
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3) Further analysis confirmed the bird strike severely damaged the engines, validating Sullenberger's emergency water landing and cementing his status as a hero.
first We read about the first step in solving an ethical problem is to completely understand all of the issues involved. Once these issues are determined, frequently a solution to the problem becomes apparent. The issues involved in understanding ethical problems can be split into three categories: 1. Factual 2. Conceptual 3. Moral. These three categories help us to solve the case study on James who is a chemical engineer
The Disaster at Bhopal
On the night of December 2, 1984, a leak developed in a storage tank at a Union Carbide chemical plant in Bhopal, India. The tank contained 10,000 gallons of methyl isocyanate (MIC), a highly toxic chemical used in the manufacture of pesticides, such as Sevin. The leak sent a toxic cloud of gas over the surrounding slums of Bhopal, resulting in the death of over 2,000 people, and injuries to over 200,000 more.
Yes, it is true that the universal declaration of human rights stems out from the last sermon of the Holy Prophet (P.B.U.H).
From the above comparison table, we can see that every human right already has been defined in the last sermon of the Holy Prophet. Human Equality, Human Dignity, Integrity, Obedience to Rulers and Women's Rights these are Important Articles of Prophet (PBUH)’S Last Sermon on which the universal of human rights are declared
Because the Prophet (peace and blessings of Allah be upon him) in his last sermon fully explained the rights and duties of the people. In every way, the sermon can be considered the first and most comprehensive charter of human rights in history.
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We read about the Bhopal Disaster In late 1984, a pressure-relief valve on a tank used to store methyl isocyanate (MIC) at a Union Carbide plant in Bhopal, India, accidentally opened. The causes of the accident had many contributing factors. Some two thousand people were killed and thousands more injured. Then we read about the framework. The ethical theory provides a framework for reaching solutions to ethical problems.
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https://www.leewayhertz.com/generative-ai-use-cases-and-applications/
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
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The project entitled "Gas Agency" is done to make the manual process easier by making it a computerized system for billing and maintaining stock. The Gas Agencies get the order request through phone calls or by personal from their customers and deliver the gas cylinders to their address based on their demand and previous delivery date. This process is made computerized and the customer's name, address and stock details are stored in a database. Based on this the billing for a customer is made simple and easier, since a customer order for gas can be accepted only after completing a certain period from the previous delivery. This can be calculated and billed easily through this. There are two types of delivery like domestic purpose use delivery and commercial purpose use delivery. The bill rate and capacity differs for both. This can be easily maintained and charged accordingly.
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Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
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Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...PriyankaKilaniya
Energy efficiency has been important since the latter part of the last century. The main object of this survey is to determine the energy efficiency knowledge among consumers. Two separate districts in Bangladesh are selected to conduct the survey on households and showrooms about the energy and seller also. The survey uses the data to find some regression equations from which it is easy to predict energy efficiency knowledge. The data is analyzed and calculated based on five important criteria. The initial target was to find some factors that help predict a person's energy efficiency knowledge. From the survey, it is found that the energy efficiency awareness among the people of our country is very low. Relationships between household energy use behaviors are estimated using a unique dataset of about 40 households and 20 showrooms in Bangladesh's Chapainawabganj and Bagerhat districts. Knowledge of energy consumption and energy efficiency technology options is found to be associated with household use of energy conservation practices. Household characteristics also influence household energy use behavior. Younger household cohorts are more likely to adopt energy-efficient technologies and energy conservation practices and place primary importance on energy saving for environmental reasons. Education also influences attitudes toward energy conservation in Bangladesh. Low-education households indicate they primarily save electricity for the environment while high-education households indicate they are motivated by environmental concerns.
1. LAB N0.12
MISSION PLANNER GROUND CONTROL STATION
A Lab Report
Presented to
The Academic Faculty
by
M IBRAR
BAEM-F18-025
In Partial Fulfillment
of the Requirements for the Degree of
Bachelor of Science in Avionics
Engineering
SUPERIOR UNIVERSITY LAHORE
March 2022
3. PAGE 3 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
TABLE OF CONTENTS
OBJECTIVE......................................... 4
PROCEDURE......................................... 4
CONTROL SURFACE................................... 4
BLOCK DIAGRAM..................................... 4
INERTIAL MEASUREMENT UNIT (IMU)................... 4
ACCELEROMETERS.................................... 5
GYROSCOPES........................................ 5
MAGNETOMETERS..................................... 6
TYPES OF INS...................................... 6
IMU CALIBRATION:.................................. 7
MISSION PLANNER GROUND CONTROL STATION............ 8
UNMANNED AERIAL VEHICLE (UAV)..................... 8
WHAT IS IMU CALIBRATION?.......................... 8
ACCELEROMETER..................................... 8
GYROSCOPE........................................ 10
REFERENCE........................................ 11
LIST OF FIGURES
Figure 1 Block diagram of basic concepts.......... 4
Figure 2 Gyroscope................................ 5
Figure 3 MAGNETOMETERS............................ 6
Figure 4 3-D view of INS.......................... 6
Figure 5 laser Gyroscope.......................... 7
Figure 6 IMU Calibration Block Kit................ 9
Figure 7 Calibration of the accelerometer......... 9
Figure 8 Orientations of the 3D gyroscope........ 10
Figure 9 Calibration Technique of MEMS Gyroscope. 10
4. PAGE 4 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
OBJECTIVE
Understanding and familiarization of the ground
control station of unmanned aerial vehicles (UAV)with
the help of mission planner software ardupilot.
PROCEDURE
CONTROL SURFACE
Here is the basic concept of the control surfaces
RUDDER PEDALS: To movie rudder for YAW.
JOYSTICK: To movie elevator forward and backward for PITCH
JOYSTICK: To a movie, ailerons left and right for ROLL.
BLOCK DIAGRAM
Figure 1 Block diagram of basic concepts
INERTIAL MEASUREMENT UNIT (IMU)
An inertial measurement unit (IMU) is an electronic
device that measures and reports a body's specific
force, angular rate, and sometimes the orientation
of the body, using a combination of accelerometers,
gyroscopes, and sometimes magnetometers. IMUs are
typically used to maneuver aircraft (an attitude and
heading reference system), including unmanned aerial
vehicles (UAVs), among many others, and spacecraft,
including satellites and landers.
5. PAGE 5 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
ACCELEROMETERS
One of the sensor types measures accelerations, not
velocity and distance. An accelerometer uses
electromagnetic sensing that measures the vibration
of a structure, in our case, an aircraft.
To measure the velocity, it uses the first equation
of motion.
v=u+at
To measure the distance, it uses the second equation
of motion.
s=u+
𝟏
𝟐
a𝒕𝟐
GYROSCOPES
One of the sensor types is MEMS devices that measure
angular velocity in units of °/s This would be
positive or negative depending on the direction of
the rotation.
FOR EXAMPLE
The average velocity is 360 °/s for exactly 0.25
seconds by using this we can calculate the turn
angle.
360 °/s x 0.25 s = 90°
Figure 2 Gyroscope
6. PAGE 6 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
MAGNETOMETERS
A magnetometer is a device that measures a magnetic
field or magnetic dipole moment. Different types of
magnetometers measure the direction, strength, or
relative change of a magnetic field at a particular
location.
Figure 3 MAGNETOMETERS
TYPES OF INS
There are two types of ins
• Stable-Platform INS
• Layer gyroscope INS
The Stable-Platform remains fixed in the aircraft.
Figure 4 3-D view of INS
It works on the principle of Doppler Effect Beam
going against the rotation produces high Freq.
7. PAGE 7 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
2-laser light beams are sent one clockwise, and the
other counter-clockwise.
Figure 5 laser Gyroscope
IMU CALIBRATION:
Before the aircraft fly, there are marks on the
starting point from where the aircraft will fly the
gyroscope and the accelerometer set its initial
position at zero according to the point of the
aircraft.
If IMU is not according to the initial points then
an error can happen in the starting angular velocity
of the gyroscope and the initial acceleration of the
accelerometer then it will measure the wrong distance
from the runway where it wants to land.
In military aircraft, these types of errors without
calibration of the IMU the missile can launch before
fighter aircraft 1Km.
Every aircraft has an IMU system because GPS and
other navigation systems can fail.
8. PAGE 8 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
MISSION PLANNER GROUND CONTROL STATION
Mission Planner is a full-featured ground station
application for the ArduPilot open-source autopilot
project. It is designed to control fixed-wing
aircraft, and various rotary-wing platforms,
including single, tri, quad, hex, and octal copters
and Airplanes. The software is written in C++ and
is completely open-source.
UNMANNED AERIAL VEHICLE (UAV)
unmanned aerial vehicle (UAV), military aircraft that
is guided autonomously, by remote control, or both,
and that carries sensors.
This UAV also works based on IMU which starts
initially from 0 degree-per-seconds for gyros
position and Initial acceleration zero for the
accelerometer.
WHAT IS IMU CALIBRATION?
IMU stands for Inertial Measurement Unit and is
essential for keeping your drone stable and level in
the sky. It’s a built-in device that measures force,
angular velocity, and attitude (yes, attitude, not
altitude). It does this through the drone’s
accelerometer, and gyroscope.
ACCELEROMETER
Accelerometers measure a drone’s proper acceleration
(acceleration relative to its freefall). If you find
that your drone is tilting when hovering, this could
be an accelerometer issue meaning you need to
recalibrate your IMU. It could also be a gyroscope
issue. If you don’t calibrate your drone on a flat
surface, this issue is usually quite common.
9. PAGE 9 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
Figure 6 IMU Calibration Block Kit
Calibration of the accelerometer requires taking
advantage of the acceleration due to gravity, which
we can use in the positive and negative orientation
of the IMU. Additionally, we can also position the
IMU perpendicular to gravity in order to acquire a
third calibration point. This results in three unique
values that can be combined to formulate a linear fit
between the three values and the values outputted by
each axis of the accelerometer.
Figure 7 Calibration of the accelerometer
10. PAGE 10 OF 11
AVIONICS SYSTEM DESIGN 31 March, 2022
GYROSCOPE
Gyroscopes are small spinning disks inside the drone.
They help to measure the drone’s attitude remains
steady and stable in the sky.
Orientations of the 3D gyroscope during the four
calibration measurements. The first calibration
measurement ( left ) is performed with a sensor at
rest in an arbitrary position. During each of the
remaining three measurements ( right ), the sensor
is manually rotated on an even horizontal surface
around a different coordinate system axis ( x , y or
z ).
Figure 8 Orientations of the 3D gyroscope
In MEMS gyroscope, exploits a two-side excitation
signal to actuate the sense mode to obtain the
corresponding DC tuning voltage. The structural
characteristics of the dual-mass decoupled MEMS
gyroscope and the tuning principle of the excitation-
calibration technique are introduced first. Then, the
scheme of the digital excitation-calibration system
for the real-time mode-matching control is presented.
Figure 9 Calibration Technique of MEMS Gyroscope