Multicopter Attitude Estimation Using Dynamic Model
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.
Keywords
Multicopter, Attitude estimation, Dynamic modelPersistent identifier
http://hdl.handle.net/11012/43040Document type
Peer reviewedDocument version
Final PDFSource
Proceedings of the 21st Conference STUDENT EEICT 2015. s. 445-449. ISBN 978-80-214-5148-3http://www.feec.vutbr.cz/EEICT/
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- Student EEICT 2015 [169]