Pendulum vertical sensor for unmanned aerial vehicles

Navigation instruments


Petrukhin V. A.1*, Mel'nikov V. E.2**

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Considered the possibility of creating vertical sensor on the basis of physical or mathematical pendulum which has increased resistance to perturbing horizontal acceleration of object. A positive result is achieved by forming a corrective signal on the pendulum fr om the accelerometers, angular motion sensors and feedbacks.

As a result of theoretical analysis and simulation show that the rational choice of the corrective elements parameters can be realized quasi-imperturbable pendulum vertical as a backup, and in some cases the main vertical sensor to a certain class of aircrafts.

The physical and mathematical pendulum, disturbing by base accelerations, adjusted by a high-frequency accelerometer and some other correction sources. Depending on the relative position of the original pendulum and accelerometer formed corresponding control algorithms that significantly affect the dynamics of the vertical sensor and the steady deviation from the vertical angle. For example, for the horizontal acceleration ax steady deviation angle from the vertical is: (1 — δ) ax / g, wh ere δ — feedback depth 0 <δ <1. That is, under certain conditions, such a pendulum becomes quasi- imperturbable and can find useful solutions.

This study proves the possibility of creation of such vertical sensor for different objects, conditions of use and functionality.

In particular, as a backup artificial horizon, primarily for the UAV, as a device for the correction of SINS on objects for different purposes, or as an independent in the formation of the INS horizontal channel, when used with one or two-component tracking housing.

As element base of vertical sensor standard components can be used: pendulums, accelerometers, CRS as macro and micro performance depending on the required accuracy, weight, size and power constraints.

Of interest is the ability to create vertical sensor on this basis in the form of a one-piece structure made of the same type on the design and technology of correcting elements, for example, carried out with the use of quartz glass as the main material of construction of the main functional elements required.


quasi-imperturbable pendulum, accelerometer, rate gyro, correction, pendulum vertical sensor, feedback


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  6. Mel’nikov V.E., Romantsov V.A. Osnovy rascheta staticheskikh i dinamicheskikh kharakteristik kvartsevykh akselerometrov (Basis for calculation of static and dynamic characteristics of quartz accelerometers), Moscow, MAI, 1982, 51 p.

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