Altitude Control System for Indoor Airship
La Croce, Davide (2014)
2014
Master's Degree Programme in Information Technology
Tieto- ja sähkötekniikan tiedekunta - Faculty of Computing and Electrical Engineering
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Hyväksymispäivämäärä
2014-09-03
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201408221388
https://urn.fi/URN:NBN:fi:tty-201408221388
Tiivistelmä
The indoor airship is designed to estimate direction and altitude using dead reckoning techniques. Sensors such as gyroscopes and accelerometers provide measurements affected by biases and additive noise. Degradation of accuracy produced by these errors is corrected using independent measurements from ultrasonic range finder, barometer and magnetometer that are supplied to the Kalman filter.
A real-time fuzzy logic controller uses the statistical best estimate to perform a feedback control loop. As result the airship is capable of maintaining the altitude in a range of 5cm from the set point.
A real-time fuzzy logic controller uses the statistical best estimate to perform a feedback control loop. As result the airship is capable of maintaining the altitude in a range of 5cm from the set point.