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Dergiler / Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering / 2026 / Volume: 66 Issue: 1

Modelling inertial measurement unit error parameters for an unmanned air vehicle

Bağış Altınöz(ROKETSAN)0000-0003-2952-9437
Hüsamettin Eken(ROKETSAN)0009-0001-2693-4923
Anıl Cönger(ROKETSAN)0009-0002-4922-5852
Sultan Can(ANKARA ÜNİVERSİTESİ, MÜHENDİSLİK FAKÜLTESİ)0000-0002-9001-0506
Sayfa
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Yayın Tarihi
2024-06-14
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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

The comparison showed a satisfactory agreement among the complementary filter measurements and UAV measurements in the stable position and the results presented.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:This paper demonstrates a study that focuses on the modeling, design, and realization of an Inertial Measurement Unit (IMU) component for the use of Unmanned Aerial Vehicles (UAV).
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Temel Bulgular & Veri:The structure is remodeled for increasing the accuracy, and performance of the UAV after the conducted flights.
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Sonuç & Katkı:The comparison showed a satisfactory agreement among the complementary filter measurements and UAV measurements in the stable position and the results presented.
🔬Tür:Modelleme & Sayısal Simülasyon
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:Complementary filter · inertial measurement unit · sensors

Abstract

This paper demonstrates a study that focuses on the modeling, design, and realization of an Inertial Measurement Unit (IMU) component for the use of Unmanned Aerial Vehicles (UAV). The experimental data is obtained by multiple flights conducted by the realized UAV (Teknofest–SEMRUK team UAV). The structure is remodeled for increasing the accuracy, and performance of the UAV after the conducted flights. Noise parameters are estimated throughout the Allan variance analysis. MEMS technology-based capacitive-type accelerometers and gyroscopes are preferred. This paper also discusses the error types and compares the real data with the modeled simulation data. Systematic errors of the inertial sensors are simulated according to their datasheet parameters. Sensor filters and noise are modeled and they are also implemented in the simulation. Simulation results and UAV measurements are compared to observe the efficiency of modeling. A complementary filter is presented and combined with a magnetometer, accelerometer, and gyroscope to obtain the ultimate design. The comparison showed a satisfactory agreement among the complementary filter measurements and UAV measurements in the stable position and the results presented.

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Bu Makaleye Atıf Yap

Altınöz, B., Eken, H., Cönger, A., Can, S. (2024). Modelling inertial measurement unit error parameters for an unmanned air vehicle. Communications Faculty of Sciences University of Ankara Series A2-A3 Physical Sciences and Engineering, Volume: 66 Issue: 1. https://doi.org/10.33769/aupse.1308165

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