Multicopter Attitude Estimation Using Dynamic Model
Loading...
Date
Authors
Baránek, R.
Advisor
Referee
Mark
Journal Title
Journal ISSN
Volume Title
Publisher
Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
ORCID
Abstract
The paper is focused on attitude estimation of multicopters. Specifically the use of dynamic model of multicopter in the attitude estimation algorithm is investigated. The examined algorithm is compared to the standard algorithm GPS-INS, which do not need any information of the vehicle dynamics. Both algorithms are tested in simulations. The use of dynamic model provides bounded errors of attitude estimates even without GPS measurements. The drawback is the need for a good dynamic model of the multicopter and its parameters.
Description
Keywords
Citation
Proceedings of the 21st Conference STUDENT EEICT 2015. s. 445-449. ISBN 978-80-214-5148-3
http://www.feec.vutbr.cz/EEICT/
http://www.feec.vutbr.cz/EEICT/
Document type
Peer-reviewed
Document version
Published version
Date of access to the full text
Language of document
en