A Real-Time deviation detection and vector measurement technique for straight line quadrocopter navigation using accelerometer
Noorfadzli Abdul Razak, Nor Hashim Mohd Arshad, Ramli Adnan, Mohamad Farid Misnan, Norashikin Mohd Thamrin, Siti Fatimah Mahmud · 2014
In autonomous quadrocopter navigation, wind disturbances commonly pose a problem for the vehicle to navigate precisely on the planned path. The vehicle easily deviates off from the path and obviously affects the navigation accuracy. Trajectory correction is one possible solution proposed by few researchers to avert the problem. The approaches are proven to increase the efficiency for the vehicle to navigate on the path with tolerable accuracy error. Motivate by the solution, it is the intention for the research to advise a new trajectory correction algorithm known as a Real-Time Adaptive Trajectory Correction (RATC) algorithm. However, in this paper, a primary work for the algorithm definitely the deviation detection and vector measurement technique via an accelerometer is presented. The technique is designed based on trigonometric functions and vector synthesizing principle. A simplify Kalman's filter appropriately for low-cost onboard controller is employed to overcome the accelerometer drift and double integration error. The technique is evaluated in terms of measurement accuracy where an X-Y platform is utilized as the navigation path and control environment. The deviation vector is logged wirelessly in the Graphical User Interface (GUI) window which also programmed to exhibit visual deviation occurred on the quadrocopter. Three sets of experiment results with different wind disturbance acceleration are discussed. The results signified the technique has fine accuracy for short-duration measurement, especially navigation in a small-bounded area.