Experimental Validation of Roll Angle Estimates Using Atmospheric Temperature Sensors
Journal of Electrical and Electronic Engineering
Volume 6, Issue 5, October 2018, Pages: 129-134
Received: Oct. 16, 2018; Accepted: Oct. 31, 2018; Published: Nov. 26, 2018
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David John Broderick, Computer Electronics & Graphics Technology Department, Central Connecticut State University, New Britain, USA
Adrian Mateusz Felczak, Computer Electronics & Graphics Technology Department, Central Connecticut State University, New Britain, USA
Christopher Glenn Wilson, Technology Services Corporation, Huntsville, USA
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Accurately estimating the position and orientation is critical for the control systems of both airborne and ground-based unmanned vehicles. In many cases, GPS-derived data provides a suitable absolute measurement. Unfortunately, many unmanned vehicles may have to operate in GPS-denied environments, thus a suitable method for obtaining an absolute attitude measurement is highly desired. Thermal emissivity sensors have been experimentally shown to successfully estimate pose of airborne vehicles at high altitude or during continuously rolling maneuvers. Previous work has shown through simulation that the roll angle can be estimated with the vehicle orientation static using three or four thermal emissivity sensor arrays. The closed form estimation method previously presented for three and four sensor arrays is expanded to a six-sensor array. An array of eight sensors is developed to allow for simultaneous experimental data collection for all three arrays. The data is collected in a realistic and non-ideal environment and then processed with the proposed estimation algorithm for each of the three arrays. The results demonstrate that three-sensor arrays do allow for estimation of roll angle, with improved error bounds for increasing number of sensors in the array. Thus, low altitude absolute roll estimation is possible with a thermal emissivity sensor array and may be suitable for certain applications.
Pose Estimation, Unmanned Aerial Vehicle, Gps-Denied, Thermopile
To cite this article
David John Broderick, Adrian Mateusz Felczak, Christopher Glenn Wilson, Experimental Validation of Roll Angle Estimates Using Atmospheric Temperature Sensors, Journal of Electrical and Electronic Engineering. Vol. 6, No. 5, 2018, pp. 129-134. doi: 10.11648/j.jeee.20180605.12
Copyright © 2018 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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