Bilag 1: Helikopterens fysiske egenskaber - SmartData

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Projekt-navn Organisation/sted AVATAR University of Southern California RAPTOR University of Southern California Helikopter / platform Bergen Industrial Helicopter (Benzin) Længde: 1,5 m Rotor ø: 1,6 m Vægt 8,2 Kg Nyttelast ~9,0 Kg Lite Machine LMH- 110 (Batterier) Længde 0,67 m Rotor ø: 0,60 m Vægt: 0,8 kg (eksl batt.) Nyttelast ~1,0 kg Sensorer Kilde DGPS (Novatel RT-20). IMU (Boeing CMIGTS-II INS). Kamera (Sony Colour CCD ukendt model). Ultralyds sonar (ukendt fabrikat). IMU, hjemmebygget (ADXL-202 Analog Devices, CG-16D NEC Tokin). Kamera (Spectronix’s Robo-CAM2 CMOS kamera m. integreret frame-grabber). Ultralyds sonar (Polaroid 6500 sonar range finder). Laser-pointer (ukendt fabrikat). Saripalli, Srikanth, David J. Naffin og Guarav S. Sukhatme. Autonomous Flying Vehicle Research at the University of Southern California. Proceedings of First International Workshop on Multi-Robot Systems, Washington DC 2002. http://wwwrobotics.usc.edu/~avatar/hardware/hardframe.html http://www.bergenrc.com/IndustrialTwin.asp Saripalli, Srikanth, David J. Naffin og Guarav S. Sukhatme. Autonomous Flying Vehicle Research at the University of Southern California. Proceedings of First International Workshop on Multi-Robot Systems, Washington DC 2002. http://wwwrobotics.usc.edu/~dnaffin/Research/research.html
<strong>Bilag</strong> 5: I/O controller elektrisk kredsløb 1 <strong>Bilag</strong> 5: I/O controller elektrisk kredsløb
Page 1 and 2: Bilag 1: Helikopterens fysiske egen
Page 3 and 4: 3 Bilag 1: Helikopterens fysiske eg
Page 5 and 6: Bilag 2: Pulse Position Modulation
Page 7: Bilag 4: Andre modelhelikopter-base
Page 11 and 12: Bilag 6: Udsnit af MAX232 datablad
Page 13 and 14: Bilag 7: Kommunikations-protokol me
Page 15 and 16: Bilag 8: Datablad for accelerometer
Page 17 and 18: Bilag 10: Frekvenskarakteristik af
Page 19 and 20: Bilag 12: Anvendte C++ programmer 1
Page 21 and 22: Attitude estimation library Detaile
Page 23 and 24: IoCtrl.h File Reference Detailed De
Page 25 and 26: 2 Bilag 13: Eulervinkler Da matrix-
Page 27 and 28: Vi kan alternativt udtrykke en quat
Page 29 and 30: 4 Bilag 14: Quaterioner Quaternione
Page 31 and 32: Bilag 15: Tidskonstant for rotorsys
Page 33 and 34: RPM-signalet approksimeres med et s
Page 35 and 36: Bilag 16: Altitude estimering med K
Page 37 and 38: Kalman filteret kan nu beregnes vha
Page 39 and 40: Bilag 16: Altitude estimering med K
Page 41 and 42: Figur 2 herunder viser outputtet x1
Page 43 and 44: Bilag 17: Resumé af journal 1 Bila

Bilag 1: Helikopterens fysiske egenskaber - SmartData

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