Difference between revisions of "Sensors"
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== Infrared Sensors == | |||
The paparazzi autopilot uses infrared thermopiles for primary attitude sensing. The theory is that at zero bank or pitch angle, the difference in the heat between the two sensors should be zero, and at 90 degrees it should be maximum. From this relationship a linear regression is made and angles are calculated during flight. Each pair of sensors measures one axis, a minimum of 2 pairs must be used to measure pitch and roll but best results are obtained thru the use of a 3<sup>rd</sup> pair on the vertical axis. Since the output signal from each sensor pair is proportional to both the attitude and the weather/terrain, systems with only x-y sensors require a ground calibration and may not provide accurate angle calculations as the aircraft travels over terrain with different IR radiation. | |||
[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video of ahrs driving flightgear] | [[Image:ir_sensor_bot_small.jpg|thumb|Paparazzi x-y IR sensor board]] | ||
=== Architecture === | |||
[[Image:IR_Sensors_Boards_Architecture.jpg]] | |||
=== Dual Axis Board Pinout === | |||
[[Image:IR_Sensors_Dual_Board_Pinout.jpg|frame|left|Component Side View]] | |||
<br style="clear:both"> | |||
=== Single Axis Board Pinout === | |||
[[Image:IR_Sensors_Single_Board_Pinout.jpg|frame|left|Component Side View]] | |||
<br style="clear:both"> | |||
== Inertial Measurement == | |||
Work is underway to create a complete 17 state [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtered] inertial navigation solution! Watch the [http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg demonstration video] of the current 7-state system. | |||
[[Image:imu_3_top.jpg|thumb|Complete IMU head with 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer]] | |||
[[Image:ahrs2fg.jpg|thumb|[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video of ahrs driving flightgear]]] | |||
Revision as of 17:17, 7 December 2006
Infrared Sensors
The paparazzi autopilot uses infrared thermopiles for primary attitude sensing. The theory is that at zero bank or pitch angle, the difference in the heat between the two sensors should be zero, and at 90 degrees it should be maximum. From this relationship a linear regression is made and angles are calculated during flight. Each pair of sensors measures one axis, a minimum of 2 pairs must be used to measure pitch and roll but best results are obtained thru the use of a 3rd pair on the vertical axis. Since the output signal from each sensor pair is proportional to both the attitude and the weather/terrain, systems with only x-y sensors require a ground calibration and may not provide accurate angle calculations as the aircraft travels over terrain with different IR radiation.
Architecture
File:IR Sensors Boards Architecture.jpg
Dual Axis Board Pinout
Single Axis Board Pinout
Inertial Measurement
Work is underway to create a complete 17 state Kalman filtered inertial navigation solution! Watch the demonstration video of the current 7-state system.
