Horizontal attitude measurement channel of the nonholonomic uniaxial wheeled platform

Аuthors

Chernomorskii A. I.^*, Feshchenko S. V., Sachkov G. P.

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: chernomorsсky@yandex.ru

Abstract

The horizon sensor on basis of the accelerometer, which is unperturbed by inertia, is developed in this paper. This sensor provides precise measurement of the uniaxial wheeled platform“s attitude relative to the horizontal plane. The compensating circuit sensors for the accelerometer method error are selected. Relevant simulation results of the wheeled uniaxial platform, taking account oj dynamics of the horizontal measurement channel, are shown

Keywords:

uniaxial wheeled platform, gyroscopic stabilization, unperturbed system, accelerometer horizon sensor.