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.008a" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Continuous disturbance</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="747134.fig.008b" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.008b.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.008c" src="https://static.hindawi.com/articles/jam/volume-2014/747134/figures/747134.fig.008c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Attitude of quadrotor (<svg height="12.325" id="M118" 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">
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</svg>, <svg height="12.4375" id="M119" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 8.5874996 12.4375" width="8.5874996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>)</td></tr></table></td></tr></table>

<table>Results from the partially simulated system (layer 3 is excluded).</table>

Journal of Applied Mathematics

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Figure 8

Figure 8: Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor 