Quadrotor attitude estimation using Adaptive Fading Multiplicative EKF

被引：0

作者：

Johansen, Tor-Aleksander ^{[1
]}

Kristiansen, Raymond ^{[1
]}

机构：

[1] UiT Arctic Univ Norway, Dept Elect Engn, N-8505 Narvik, Norway

来源：

2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年

关键词：

Attitude Estimation; AFEKF (Adaptive Fading Extended Kalman Filter); MEKF (Multiplicative Extended Kalman Filter); Quadrotor; Sensor fusion; Accelerated Flight;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the implementation of an adaptive fading multiplicative extended Kalman filter (AFMEKF), applied to the problem of attitude estimation in the context of quadrotors. The extended Kalman filter is adapted for use with quaternions and made adaptive to account for inaccurate measurement information. Simulations have been conducted in order to validate the filter performance.

引用

页码：1227 / 1232

页数：6

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