Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter

This dataset contains the flight data recorded by the onboard flight computer for perching experiments. During the experiments nonlinear guidance and control laws are used for trajectory tracking. The filght computer is designed around the NanoPi Neo Air. A custom made PCB attached to the NanoPi, and acts as a carrier for an STM32 microcontroller. The microcontroller regulates the servos via a PWM signal. At the same time, the flight computer connects with an Optitrack motion capture system. The Optitrack emits data at 120 Hz to a local network using a VRPN protocol. This data is recorded by the flight computer, used for state estimation, and the control is executed at 100 Hz.

本数据集包含用于栖停实验的机载飞行计算机所采集的飞行数据。实验过程中，研究人员采用非线性制导与控制律完成轨迹跟踪任务。该飞行计算机以NanoPi Neo Air为核心开发，其上挂载有一块定制印制电路板（PCB），作为STM32微控制器的承载平台。该微控制器通过脉冲宽度调制（Pulse Width Modulation）信号对伺服舵机进行调控。与此同时，该飞行计算机还与Optitrack动作捕捉系统建立连接，该系统以120赫兹的频率通过虚拟外设网络（Virtual Reality Peripheral Network，VRPN）协议向本地网络发送数据。飞行计算机记录该数据以用于状态估计，并以100赫兹的频率执行控制运算。