Multicopter Attitude Estimation Using Dynamic Model

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Date
2015
ORCID
Advisor
Referee
Mark
Journal Title
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Volume Title
Publisher
Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
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
Citation
Proceedings of the 21st Conference STUDENT EEICT 2015. s. 445-449. ISBN 978-80-214-5148-3
http://www.feec.vutbr.cz/EEICT/
Document type
Peer-reviewed
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Published version
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Language of document
en
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Defence
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© Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
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