Control of unmanned aerial vehicle modules based on inertial measurement system and MEMS sensor

Abstract

This article examines the effect of crosswind on the deflection of UAV cargo in free fall, taking into account the parameters of air resistance and drag coefficient. The displacement results are obtained graphically through simulation. The diagram of the module for stabilizing the load in free fall and the block diagram of the inertial measurement unit (IMU) are described. An analysis of navigation systems was carried out and an IMU was selected that allows the use of dead reckoning (DR) navigation. The principles of operation of inertial measuring microelectromechanical (MEMS) structures are considered. The principles of using IMU and how to configure MEMS sensor data are discussed. IMU accuracy testing has been carried out. A description of the principles of setting up and using a proportional-integral-derivative (PID) controller to control the angle of the stabilizer wing is presented. 3D simulations were performed for the case with and without the stabilization module. The presented results will be useful to UAV developers.