Altitude Control System for Indoor Airship
La Croce, Davide
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The indoor airship is designed to estimate direction and altitude using dead reckoning techniques. Sensors such as gyroscopes and accelerometers provide measurements affected by biases and additive noise. Degradation of accuracy produced by these errors is corrected using independent measurements from ultrasonic range finder, barometer and magnetometer that are supplied to the Kalman filter. A real-time fuzzy logic controller uses the statistical best estimate to perform a feedback control loop. As result the airship is capable of maintaining the altitude in a range of 5cm from the set point.