Simulation and Experimental Research of Autonomous UAV MIAMS in Large Maneuvering Acceleration Condition

In this paper, the Micro-Inertial Attitude Measurement System (MIAMS) for Unmanned Aerial Vehicle (UAV) in large maneuvering acceleration condition is researched by the Microsoft Visual Studio (MVS) simulation tool, and the vehicular and UAV experimental platforms. Firstly, the external large maneuvering acceleration is compensated based on the dynamic characteristics of the UAV. Secondly, the Adaptive Mahony Complementary Filter (AMCF) is introduced for implementation the attitude measurement accurately only utilizing the tri-axial gyroscopes and accelerometers in maneuvering conditions. Thirdly, the MVS simulation tool is utilized to tune the parameters of reducing the large maneuvering acceleration on forward and lateral directions. Finally, both the vehicle and the UAV high-speed ground taxiing experiments are conducted to testify the precision and feasibility of the UAV MIAMS, the experimental results demonstrated that the attitude measurement error of MIAMS is no more than 0.8
^e
in large maneuvering acceleration condition.