IDEAS home Printed from https://ideas.repec.org/a/zna/indecs/v16y2018i1p149-161.html
   My bibliography  Save this article

On-line Inertia Measurement of Unmanned Aerial Vehicles using on board Sensors and Bifilar Pendulum

Author

Listed:
  • Matija Krznar

    (Sv. Kriz Zacretje, Croatia)

  • Denis Kotarski

    (Karlovac University of Applied Sciences, Karlovac, Croatia)

  • Petar Piljek

    (University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, Croatia)

  • Danijel Pavkoviæ

    (University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, Croatia)

Abstract

Identification of a dynamical model and its parameters is one of the fundamental problems in the field of robotics and system dynamics modelling. For the general situation of an object motion with six degrees of freedom (6-DOF), such as in the case of the Unmanned Aerial Vehicle (UAV), the key physical parameters are vehicle mass and moment of inertia. Even though UAV mass and its geometry/topology are easily obtainable, it is difficult to identify the inertia tensor considering that it is not measurable by static tests. This article presents a simple and effective method for on-line estimation of a rigid-body inertia based on a two-wire pendulum and an on-board integrated sensor system. Herein, the test subject (i.e. UAV) is suspended by two thin parallel wires in such a way to form a bifilar torsional pendulum about the vertical axis. Using on-board sensors from the UAV flight controller (FC) unit, the pendulum oscillations are recorded and processed in order to obtain trend-free and noise-free signals used in the final inertia estimation phase. The proposed identification algorithm is verified experimentally for two typical cases of suspended objects related to the UAV control box and a full UAV configuration.

Suggested Citation

  • Matija Krznar & Denis Kotarski & Petar Piljek & Danijel Pavkoviæ, 2018. "On-line Inertia Measurement of Unmanned Aerial Vehicles using on board Sensors and Bifilar Pendulum," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 16(1), pages 149-161.
  • Handle: RePEc:zna:indecs:v:16:y:2018:i:1:p:149-161
    as

    Download full text from publisher

    File URL: http://indecs.eu/2018/indecs2018-pp149-161.pdf
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Zoran Benic & Petar Piljek & Denis Kotarski, 2016. "Mathematical modelling of unmanned aerial vehicles with four rotors," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 14(1), pages 88-100.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Maciej Leszczynski & Przemyslaw Perlikowski & Piotr Brzeski, 2024. "A Unified Approach for the Calculation of Different Sample-Based Measures with the Single Sampling Method," Mathematics, MDPI, vol. 12(7), pages 1-19, March.
    2. Simone Fiori, 2019. "Model Formulation Over Lie Groups and Numerical Methods to Simulate the Motion of Gyrostats and Quadrotors," Mathematics, MDPI, vol. 7(10), pages 1-35, October.
    3. Mariusz Jacewicz & Marcin Żugaj & Robert Głębocki & Przemysław Bibik, 2022. "Quadrotor Model for Energy Consumption Analysis," Energies, MDPI, vol. 15(19), pages 1-33, September.
    4. Matija Krznar & Danijel Pavković & Mihael Cipek & Juraj Benić, 2021. "Modeling, Controller Design and Simulation Groundwork on Multirotor Unmanned Aerial Vehicle Hybrid Power Unit," Energies, MDPI, vol. 14(21), pages 1-26, November.

    More about this item

    Keywords

    UAV; on-line moment of inertia identification; bifilar pendulum; IMU sensors;
    All these keywords.

    JEL classification:

    • Z00 - Other Special Topics - - General - - - General

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:zna:indecs:v:16:y:2018:i:1:p:149-161. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Josip Stepanic (email available below). General contact details of provider: .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.