Improving Attitude Estimation Using Inertial Sensors for Quadrotor Control Systems

被引：0

作者：

Sanz, Ricardo ^{[1
]}

Rodenas, Luis ^{[1
]}

Garcia, Pedro ^{[1
]}

Castillo, Pedro ^{[2
]}

机构：

[1] Univ Politecn Valencia, Inst Automat & Informat Ind, Valencia 46022, Spain

[2] CINVESTAV CNRS, LAFMIA UMI 3175, Mexico City, DF, Mexico

来源：

2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2014年

关键词：

Attitude estimation; observers; real-time validation; EKF; SPACECRAFT ATTITUDE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Attitude estimation for an aerial vehicle using the Kalman Filter - KF- with experimental validation is presented in this paper. The data fusion is made using simplified representations of the kinematics of the aerial vehicle and the accelerometer measurement model. The resulting algorithm is computationally efficient as it can be run at up to 500 Hz on a low-cost microcontroller. The observer is improved by choosing the appropriate covariance and noise matrices. Numerical and in-flight validation are carried out using an experimental platform and a quadrotor prototype. The experimental results are compared online with the measurements coming from a commercial IMU -Inertial Measurement Unit.

引用

页码：895 / 901

页数：7

共 18 条

[1]

[Anonymous], 2013, FY20132038

[2]

[Anonymous], 2011, Optimal estimation of dynamic systems

[3]

[Anonymous], 2005, PROC AIAA GUID NAVIG

[4]

[Anonymous], IFAC WORLD C SEOUL K

[5] Forest fire monitoring with multiple small UAVs [J].

Casbeer, DW ;

Beard, RW ;

McLain, TW ;

Li, SM ;

Mehra, RK .

ACC: Proceedings of the 2005 American Control Conference, Vols 1-7, 2005, :3530-3535

[6]

Chao HY, 2010, INT J CONTROL AUTOM, V8, P36, DOI [10.1007/S12555-010-0105-z, 10.1007/s12555-010-0105-z]

[7] Unscented filtering for spacecraft attitude estimation [J].

Crassidis, JL ;

Markley, FL .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2003, 26 (04) :536-542

[8] Predictive filtering for nonlinear systems [J].

Crassidis, JL ;

Markley, FL .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1997, 20 (03) :566-572

[9] Survey of nonlinear attitude estimation methods [J].

Crassidis, John L. ;

Markley, F. Landis ;

Cheng, Yang .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2007, 30 (01) :12-28

[10] ATTITUDE DETERMINATION BY KALMAN FILTERING [J].

FARRELL, JL .

AUTOMATICA, 1970, 6 (03) :419-+

← 1 2 →