The positioning, detection, and avoid (PODA) system is the topic of my master’s degree thesis. This article focuses on the design and development of an embedded electronic platform that will be installed on an unmanned aerial vehicle (UAV) for precision positioning and detect and avoid strategies. The aim is to determine the position, in real time, of a small UAV, and to detect obstacles. PODA is a system composed by several sensors that have key specifications, such as low cost, miniature size, robustness, and fast response time. To remove systematic errors (bias) and measurement noise, and to derive estimated positions from the accelerometer data, simple Kalman filtering techniques have been implemented in real-time acquisition and in post-processing. The optimal estimation algorithm has been developed directly on the microcontroller.
Embedded System for Precision Positioning, Detection, and Avoidance (PODA) for Small UAS
Ariante, Gennaro
2020-01-01
Abstract
The positioning, detection, and avoid (PODA) system is the topic of my master’s degree thesis. This article focuses on the design and development of an embedded electronic platform that will be installed on an unmanned aerial vehicle (UAV) for precision positioning and detect and avoid strategies. The aim is to determine the position, in real time, of a small UAV, and to detect obstacles. PODA is a system composed by several sensors that have key specifications, such as low cost, miniature size, robustness, and fast response time. To remove systematic errors (bias) and measurement noise, and to derive estimated positions from the accelerometer data, simple Kalman filtering techniques have been implemented in real-time acquisition and in post-processing. The optimal estimation algorithm has been developed directly on the microcontroller.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
