The main goal of this research is to calibrate an inertial measurement unit (IMU) that contains an accelerometer and a gyroscope. The actuator dynamics will be characterized, so that the quadrotor can efficiently and safely perform autonomous navigation. The calibration steps are important so that the control system can operate in a accurate and reliable way. The communication between the sensors and the computer will be performed using the Arduino board. Experiments to characterize the signals provided by the sensors and actuators will be performed. Furthermore, computer programs for data acquisition will be implemented. This project will give support to future researches on sensor fusion. It is worth to emphasize that the methodology developed in this research can be applied in any other project that requires inertial sensing using an IMU.
News published in Agência FAPESP Newsletter about the scholarship: