Overview
A redundant IMU flight management system designed for fixed-wing UAVs where flight reliability and attitude estimation accuracy under vibration are critical.
- Triple-redundant IMU architecture connected to independent sensor SPI buses.
- Dual RTK GPS/GNSS receivers enabling centimetre-level positioning accuracy.
- Custom vibration-dampened mechanical isolation mount for internal sensors.
- Extended Kalman Filter (EKF) algorithm for robust real-time state estimation.
- Cascaded PID attitude control loops and autonomous waypoint navigation.
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Challenge
Designing a highly redundant flight controller that handles vibration isolation for triple IMUs and includes power supply failover.
Solution
Designed an isolated sensor island with mechanical dampeners, triple redundant SPI IMUs, and dynamic dual-rail diode ORing.
Outcome
Zero flight hardware failures across 500+ hours of autonomous commercial UAV test flights.