Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="747134.fig.0011a" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.0011a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Step disturbance of the <svg height="7.9499998" id="M120" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 9.625 7.9499998" width="9.625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M536 404q0 -17 -13.5 -31.5t-26.5 -14.5q-8 0 -15 10q-11 14 -25 14q-22 0 -67 -50q-47 -52 -68 -82l37 -102q31 -88 55 -88t78 59l16 -23q-32 -48 -68.5 -78t-65.5 -30q-19 0 -37.5 20t-29.5 53l-41 116q-72 -106 -114.5 -147.5t-79.5 -41.5q-21 0 -34.5 14t-13.5 37
q0 16 13.5 31.5t28.5 15.5q12 0 17 -11q5 -10 25 -10q22 0 57.5 36t89.5 111l-40 108q-22 58 -36 58q-21 0 -67 -57l-19 20q81 107 125 107q17 0 30 -22t39 -88l22 -55q68 92 108.5 128.5t74.5 36.5q20 0 32.5 -14t12.5 -30z" id="x1D465"></path></g>
</svg>-axis</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="747134.fig.0011b" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.0011b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position of quadrotor</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="747134.fig.0011c" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.0011c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Attitude of quadrotor (<svg height="12.325" id="M121" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 10.0125 12.325" width="10.0125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.825)"><path d="M559 271q0 -109 -83 -187t-189 -89l-36 -213q-16 -30 -86 -43l-7 9q10 36 53 242q-91 11 -139.5 63.5t-48.5 132.5q0 186 242 271l11 -28q-76 -34 -119.5 -91.5t-43.5 -136.5q0 -66 29 -108.5t77 -55.5q39 205 56 260q21 71 65 111t93 40q50 0 88 -45.5t38 -131.5z
M484 273q0 65 -26.5 99t-52.5 34q-37 0 -53 -75l-59 -298q80 5 135.5 74.5t55.5 165.5z" id="x1D711"></path></g>
</svg>)</td></tr></table></td></tr></table>

<table>Results for the full system (disturbance only).</table>

Journal of Applied Mathematics

fig11

Figure 11

Figure 11: Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor 