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.

本数据集收录了用于栖停实验的机载飞行计算机所记录的飞行数据。实验期间，研究人员采用非线性制导与控制律实现轨迹跟踪。该飞行计算机以NanoPi Neo Air为核心构建，一块定制印制电路板（PCB）附着于NanoPi之上，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（PWM）信号对伺服电机进行驱动调控。与此同时，飞行计算机与Optitrack动作捕捉系统建立连接，该系统以120赫兹的频率通过VRPN协议向本地网络传输数据。飞行计算机将上述数据记录并用于状态估计，同时以100赫兹的频率执行控制操作。