Field Programmable Gate Array-Based Attitude Stabilization

摘要

A system for determining vehicle attitude using a field programmable gate array and low-cost gyroscopes is presented. The method is intended to support the stabilization of a short duration, unmanned aerial vehicle. Using a microelectromechanical system inertial sensor for the calibration and serial interface, the algorithm sidesteps concerns related to electromagnetic interference and the impact of embedded, proprietary filters. An Allan variance analysis is used to characterize the sensor errors and predict system performance. A floating point representation using a direction cosine matrix is hosted on the field programmable gate array alongside the platform stabilization feedback loops. Although prone to drifting without additional aiding, the derived attitude has been demonstrated to be effective in stabilizing a remotely piloted quadrotor.