How does ArduIMU and IMU in general work?

Something has been somewhat confusing to me. No matter where I look, I cant find a straight explanation as to how autonomous aircraft stabilize themselves. I know the Ardupilot uses thermopile sensors. Do real drone aircraft use thermal horizon sensors? I know gyros are commonplace though. As for the IMU, I realize since its internal and gyro based, there has to be some drift. How is the drift reduced to the point where it can be used to fly an aircraft? It it used in conjunction with other sensors to get more points of reference then mix itself in with programming? Somewhat like being able to auto recalibrate in flight? Or is it kind of like a traditional model aircraft gyro, where it just stabilizes flight against unwanted movement. How much of an improvement in stability can an ArduIMU offer over just thermal sensors? I will not be using them anytime soon, I think they are not yet implemented fully as for the open code, but I am just curious. Are there any other sensors commonly used in UAV type aircraft in general?

I wish I could find a good overall guide or explanation for UAV stabilization.

Views: 240

▶ Reply to This

Replies to This Discussion


DeveloperPermalink Reply by Doug Weibel on March 17, 2010 at 4:56pm
ArduPilot 2.5.1 is in alpha testing, and moving towards beta testing. I am flying with it at present. It is available in the repository, but still subject to rapid revision. There is a thread in the forum...
Permalink Reply by Scott Lencl on March 18, 2010 at 7:39am
I see that the new firmware will allow the integration of IMU. Will the IMU replace the thermal sensors completely, or would they still be required/recommended? I have some money set aside and was planning on purchasing the thermal XY and Z sensors from the drones store. I know I am a beginner and people say I should start out with what is easiest, but if the firmware will fully support it soon, the cost is similar, I would rather go the route of an IMU. I am a bit paranoid about the possibilities of weather conditions, trees, mountains ans such affecting the sensors. Especially where I live, in the Seattle area of Washington, and closer to the mountains in Enumclaw where I fly often, there are lots of mountains and trees.

DeveloperPermalink Reply by Doug Weibel on March 18, 2010 at 9:21am
With the new firmware you use either ArduIMU or the thermopiles, not both. In terms of ease of use it may be a toss up. Both have their own issues. With the IMU you have to be concerned with vibration...
Permalink Reply by Scott Lencl on March 18, 2010 at 6:27pm
I see that for these IMUs, vibration seems to be a considerable issue. I remembered a video I watched recently where all the hardware was mounted with rubber band supported boards to eliminate vibrations. I figured oscillations might be a problem, but if you mess around with the tension, I assume that this idea might help for a more stable IMU platform. If I go the route of an IMU, I will be sure to try this. I will post the video if I can find it again, but I had no luck finding it. What do you guys think?

RSS

Contests

Season Two of the Trust Time Trial (T3) Contest has now begun. The third round was a reliablilty/aerial photography round for both planes and copters, which is now closed. Stay tuned for the next round, beginning soon.

A list of all T3 contests is here. 

 

Top Content 

1 What do you think the APM should do on fail safe

What do you think the APM should do on fail safe
2 Hexa-copter found after failed attempt of delivering cell phones to inmates of a Brazilian penitentiary

Hexa-copter found after failed attempt of delivering cell phones to inmates of a Brazilian penitentiary
3 Gauging Interest in the CNC Machine

Gauging Interest in the CNC Machine
4 Housekeeping note: Kevin Finisterre

Housekeeping note: Kevin Finisterre
5 hexa copter calibration problem

hexa copter calibration problem

Groups

© 2012   Created by Chris Anderson.

Badges  |  Report an Issue  |  Terms of Service