TY  - JOUR
A1  - Kaiser, Dennis
A1  - Lesch, Veronika
A1  - Rothe, Julian
A1  - Strohmeier, Michael
A1  - Spieß, Florian
A1  - Krupitzer, Christian
A1  - Montenegro, Sergio
A1  - Kounev, Samuel
T1  - Towards Self-Aware Multirotor Formations
JF  - Computers
N2  - In the present day, unmanned aerial vehicles become seemingly more popular every year, but, without regulation of the increasing number of these vehicles, the air space could become chaotic and uncontrollable. In this work, a framework is proposed to combine self-aware computing with multirotor formations to address this problem. The self-awareness is envisioned to improve the dynamic behavior of multirotors. The formation scheme that is implemented is called platooning, which arranges vehicles in a string behind the lead vehicle and is proposed to bring order into chaotic air space. Since multirotors define a general category of unmanned aerial vehicles, the focus of this thesis are quadcopters, platforms with four rotors. A modification for the LRA-M self-awareness loop is proposed and named Platooning Awareness. The implemented framework is able to offer two flight modes that enable waypoint following and the self-awareness module to find a path through scenarios, where obstacles are present on the way, onto a goal position. The evaluation of this work shows that the proposed framework is able to use self-awareness to learn about its environment, avoid obstacles, and can successfully move a platoon of drones through multiple scenarios.
KW  - self-aware computing
KW  - unmanned aerial vehicles
KW  - multirotors
KW  - quadcopters
KW  - intelligent transportation systems
Y1  - 2020
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-200572
SN  - 2073-431X
VL  - 9
IS  - 1
ER  - 
TY  - JOUR
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Coupled GPS/MEMS IMU Attitude Determination of Small UAVs with COTS
JF  - Electronics
N2  - This paper proposes an attitude determination system for small Unmanned Aerial Vehicles (UAV) with a weight limit of 5 kg and a small footprint of 0.5m x 0.5 m. The system is realized by coupling single-frequency Global Positioning System (GPS) code and carrier-phase measurements with the data acquired from a Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) using consumer-grade Components-Off-The-Shelf (COTS) only. The sensor fusion is accomplished using two Extended Kalman Filters (EKF) that are coupled by exchanging information about the currently estimated baseline. With a baseline of 48 cm, the static heading accuracy of the proposed system is comparable to the one of a commercial single-frequency GPS heading system with an accuracy of approximately 0.25°/m. Flight testing shows that the proposed system is able to obtain a reliable and stable GPS heading estimation without an aiding magnetometer.
KW  - Attitude Heading Reference System (AHRS)
KW  - magnetometer
KW  - MEMS IMU
KW  - Real-time Kinematics (RTK)
KW  - GPS
KW  - UAV
KW  - attitude determination
Y1  - 2017
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-171179
VL  - 6
IS  - 1
ER  -