Angular Acceleration Estimation with Off-CG Accelerometers for Incremental Nonlinear Dynamic Inversion Control

摘要

The paper proposes a precise method to measure the angular acceleration of a quadrotor Unmanned Aerial Vehicle (UAV) using multiple accelerometers. The method estimates the angular acceleration feedback in the incremental nonlinear dynamic inversion (INDI) controller. Although sensors are available to measure acceleration and angular velocity, few can directly measure angular acceleration. Moreover, noisy systems, disturbances, or difficult-to-mount sensors can affect angular velocity measurements. Various methods estimate angular acceleration, including the tangential acceleration principle, which involves an accelerometer mounted symmetrically on the center of gravity. Additionally, the study compares the nine-accelerometer package (NAP), CG offset, and coplanar sensor array methods. The results show that using multiple accelerometers for estimating angular acceleration is more accurate than calculating angular acceleration by differentiating angular velocities, particularly when considering sensor noise and mounting error. The method is evaluated for performance on a quadrotor UAV simulation equipped with an INDI controller. The proposed method can enhance the accuracy of angular acceleration measurement, which is helpful in many fields, such as robotics, aerospace, and transportation.