0
\$\begingroup\$

I am just a little bit worried about my research because I feel stuck in one point and I can't find the exit door.

My question is about this:

I will design a drone and the professor wants that drone keeps its angles in one position. That is, roll, pitch and yaw angles don't change. How can I keep them in a stable position? Or, how can I detect bias of them? I am thinking about using IMU or MEMS-INS for this.

Am I on the right path?

\$\endgroup\$
  • \$\begingroup\$ Stabilization of roll, pitch, and yaw angles as described in the body of your question is a feature of $12 toys. But that is not position stabilization - the latter is quite challenging, and often the fancy demos you see are done with external cameras and computing. \$\endgroup\$ – Chris Stratton Feb 24 '18 at 8:59
  • \$\begingroup\$ Have a look at github.com/betaflight It should answer all your questions - and a lot more. \$\endgroup\$ – Edgar Feb 24 '18 at 9:36
1
\$\begingroup\$

With a..

  • 3 DOF (Degrees of freedom) mems (Accelerator) you can calculate the angles (if your drone is stationary).
  • 3 DOF mems (Gyroscope) you can calculate the angles (this will drift)
  • 3 DOF mems (Magnetometer) you can calculate the angles (which might be distorted by large heavy/soft iron objects)

If you take the information from all 9 sources = 9 DOF simultaneously you get something called sensor fusion (wiki), Here's a tutorial about this at adafruit.

In an ideal world where the fusion works perfectly, you end up with something called AHRS (wiki) (not arse) which stands for "Attitude & Heading Reference System".

AHRS modules used to be very pricey, but just recently, about a month ago, I came across the GY-955 module (aliexpress) which even comes with integrated kalman filter, the kalman filter gives a good estimate for what the real AHRS value actually is.

I haven't tried the GY-955 module so I can't say how good it is, or if it's just Chinese bogus marketing. But if I were you I would just take the easy route and acquire a GY-955 module and call it a day.


If you want to keep the drone geographically stable then you will most likely also have to add a GPS module to it, or some other sensor that relates to the physical real world.

\$\endgroup\$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.