A reconfigurable FPGA framework for data fusion in UAV's

Veera Ragavan, Velappa M Ganapathy, Enoch Ming Xian Chong

    Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

    2 Citations (Scopus)

    Abstract

    This paper presents the results of an effort to develop a reconfigurable helicopter platform capable of autonomous flight using a reconfigurable FPGA Framework to fuse the data from sensors, Readings from accelerometer and absolute GPS Location data is fused using Kalman filter to combine the low frequency stability of GPS systems with the high frequency tracking of accelerometers thus achieving stable static and dynamic three-degree-of-freedom tracking for the use of an UAV onboard navigational system. The sensor data can have different data rates and noise figures. Simulation was done on data fusion of noisy GPS and accelerometer data using Kalman filter. The results showed the data fusion of the sensors gives a better positional and velocity estimates decreasing the average errors of positional and velocity estimates by more than 50%. More over the fused data does not accumulate error over time, as compared to positional and velocity estimates obtained earlier.

    Original languageEnglish
    Title of host publicationProceedings of the 2009 World Congress on Nature & Biologically Inspired Computing
    EditorsVijayalakshmi Pai, Chandrasekharan Rajendran, Andre Carvalho
    Place of PublicationNew Jersey USA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages1626-1631
    Number of pages6
    Volume1
    ISBN (Print)9781424456123
    DOIs
    Publication statusPublished - 2009
    EventWorld Congress on Nature and Biologically Inspired Computing 2009 - New Jersey, United States of America
    Duration: 9 Dec 200911 Dec 2009

    Conference

    ConferenceWorld Congress on Nature and Biologically Inspired Computing 2009
    Abbreviated titleNaBIC 2009
    CountryUnited States of America
    CityNew Jersey
    Period9/12/0911/12/09

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