Improving Sensor Signals for Control Purposes

To perform autonomous or semi-autonomous flights, that is, when an UAV is being controlled remotely, the UAV needs an adequate estimate of the attitude in semi-autonomous mode, and similarly, it needs estimates of the attitude and position in the 3D space in the case of an autonomous flight. There are many sensors in the world market that provide good estimates of the orientation and position. The most common sensor to measure the orientation and rate is the Inertial Measurement Unit (IMU), and for the position one uses the Global Position System (GPS). However, these commercial sensors are generally expensive, or, in the case of the GPS, not useful when the UAV operates indoors.

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