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The mathematical description of the kinematics and dynamics of a model helicopter is presented. Using the derived closed form solution for simplified dynamics, a controller for an autonomous model helicopter is designed. This controller is composed of two loops: the inner loop for controlling the orientation of the main rotor plain and the outer loop to(More)
For flight control of helicopter UAVs, it is essential to have high-quality 6-DOF attitude measurements. In the course of the miniaturization, the need for reliable orientation sensors conflicts with strict resource constraints. This paper presents the algorithms for orientation calculation used on-board TU Berlin's helicopter UAV MARVIN as an example of "(More)
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