Emulação de uma unidade de medições inerciais para testes Hardware-In-the-Loop

Abstract

Unmanned Aerial Vehicles (UAVs) have wide range of both civilian and military applications. These applications include security operations, border surveillance, trac monitoring, systems inspection, etc. The domain of technologies used in the development of UAVs can provide important contributions for the research and technological development of a country. In this context UFMG has, since 2004, presented several results in the production of UAVs including the development of instrumentation and control systems, aerial platforms and mission planning and operation. In the general context of UFMGs research projects, this work corresponds to one of the steps for generating autonomous aerial platforms able to perform collaborative tasks and aims to develop a emulator of Inertial Measurement Unit (IMU) for Hardware-Inthe- Loop (HIL) tests. An important contribution of this work was the use of Model-Based Design methodology for sensor models automatic code generation from the Embedded Target platform of MATLAB/Simulink R for integration with the DSPs Texas Instrumens R . The results showed that the generated codes are ecient in terms of execution time and memory occupancy and that the models of the sensors are consistent with the expected values thus showing that the developed HIL simulator met the objective.