Abstract—For four rotor helicopter system, the velocity parameter is important for stable real-time control, and the velocity is calculated by the IMU (Internal Measurement Unit) from the three-axis acceleration and gyro sensors.
Since the IMU unit developed and designed for multi-purpose use, high-frequency range of the acceleration/gyro sensors information was used for estimating the velocity and it is afraid to do overestimation of the velocity especially when the drone collision against the wall (even with a slight contact) and the impact due to blasts. The result shows that the IMU unit calculated velocity was divergent 20 times from the real velocity measured from the camera on the ceiling even when low speed contact with a wall (25 cm/sec speed). When the estimated velocity parameter would be used for the position control and stabilizing of AR. Drone helicopter, it will be necessary to consider the problem of the estrangement of the velocity to develop the drone system for inspection at infrastructure equipment such as the bridge or tunnel.
Keywords—Four rotor helicopter, AR. Drone 1.0, Velocity estimation, IMU, Investigation of bridge or tunnels.
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