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A smart self-powered three-axis attitude sensor for aerial robot status awareness and collision warning

Author

Listed:
  • Xiao, Enzan
  • Ding, Ruisong
  • Zhu, Peng
  • Fan, Chengliang
  • Kong, Lingji
  • Wu, Jiaoyi
  • Zhang, Zutao
  • Yang, Ting

Abstract

This study proposes a triboelectric nanogenerator (TENG)-based triaxial attitude sensor (SPAS) for self-powered monitoring of aerial-robot flight status and for early pre-collision warning. The sensor consists of horizontal and vertical sensing units, capable of real-time perception of multidimensional attitude information such as acceleration, tilt angle, and frequency across three axes. Experiments have verified that the horizontal unit achieves a coefficient of determination (R2) of 0.991, the vertical unit reaches 0.987, and the durability exceeds 700,000 cycles. Furthermore, a lightweight attention-based hybrid deep learning network (LFEM-TDEM-AM) was constructed for end-to-end recognition of eight aerial robot flight states, including unlocking, takeoff, hovering, and forward, backward, leftward, and rightward flight, with a test accuracy of 98.57%. A closed-loop “perception–recognition–warning” framework is established, providing an energy-autonomous and reliable solution for low-altitude aerial traffic safety and airspace management.

Suggested Citation

  • Xiao, Enzan & Ding, Ruisong & Zhu, Peng & Fan, Chengliang & Kong, Lingji & Wu, Jiaoyi & Zhang, Zutao & Yang, Ting, 2026. "A smart self-powered three-axis attitude sensor for aerial robot status awareness and collision warning," Energy, Elsevier, vol. 350(C).
    • Handle: RePEc:eee:energy:v:350:y:2026:i:c:s0360544226008030
    DOI: 10.1016/j.energy.2026.140700
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