Adaptive Sensor Fusion and Propeller Thrust Equation Based Digital Control System for UAV

Abstract

Manually controlling an UAV can be a tough task with so many control parameters involved like altitude of the UAV, position of the UAV, velocity of the UAV. This work sheds light on a novel control architecture for easier and broader range control of an UAV using the GSM network with help of DTMF signals, Propeller Thrust equation, and Sensor Fusion with sensor reading compensation technique. We have fused a low cost accelerometer and gyroscope sensor with barometer sensor for calculating vertical velocity and altitude of the UAV from the sensor readings using an adaptive Kalman Filter. The whole system is integrated in the proposed flight controller architecture.