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LinkBoard: Advanced Flight Control System for Micro Unmanned Aerial Vehicles
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
2017 (English)In: 2017 2ND INTERNATIONAL CONFERENCE ON CONTROL AND ROBOTICS ENGINEERING (ICCRE2017), IEEE , 2017Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents the design and development of the LinkBoard, an advanced flight control system for micro Unmanned Aerial Vehicles (UAVs). Both hardware and software architectures are presented. The LinkBoard includes four processing units and a full inertial measurement unit. In the basic configuration, the software architecture includes a fully configurable set of control modes and sensor fusion algorithms for autonomous UAV operation. The system proposed allows for easy integration with new platforms, additional external sensors and a flexibility to trade off computational power, weight and power consumption. Due to the available onboard computational power, it has been used for computationally demanding applications such as the implementation of an autonomous indoor vision-based navigation system with all computations performed onboard. The autopilot has been manufactured and deployed on multiple UAVs. Examples of UAV systems built with the LinkBoard and their applications are presented, as well as an in-flight experimental performance evaluation of a newly developed attitude estimation filter.

Place, publisher, year, edition, pages
IEEE , 2017.
Keyword [en]
robotics; embedded systems; flight control system; unmanned aerial vehicle; attitude heading reference system
National Category
Embedded Systems
Identifiers
URN: urn:nbn:se:liu:diva-139643DOI: 10.1109/ICCRE.2017.7935051ISI: 000406006500021ISBN: 978-1-5090-3774-2 OAI: oai:DiVA.org:liu-139643DiVA: diva2:1130454
Conference
2nd International Conference on Control and Robotics Engineering (ICCRE)
Note

Funding Agencies|Swedish Research Council (VR) Linnaeus Center CADICS; ELLIIT network organization for Information and Communication Technology; Swedish Foundation for Strategic Research [RIT 15-0097]

Available from: 2017-08-09 Created: 2017-08-09 Last updated: 2017-08-09

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Wzorek, MariuszRudol, PiotrConte, GianpaoloDoherty, Patrick
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CiteExportLink to record
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Citation style
  • apa
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