Publication detail

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

BARÁNEK, R. ŠOLC, F.

Original Title

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Czech Title

Ladění Komplementárního Filtru pro Estimaci Orientace s Použitím Přesného Modelu Multikopteru

English Title

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Type

journal article

Language

en

Original Abstract

This contribution deals with attitude estimation algorithm based on measuring angular rate, earth magnetic field and accelerations. At first, two main methods usually used for attitude estimation are described. Subsequently the particular form of complementary filter attitude estimator is shown. Then the tuning of algorithm parameters using MATLAB environment is described. For this, precise model of multicopter, which was made in Simulink environment, was used. Testing trajectory along with simulated sensor and true data were made using above mentioned model, so the comparison through RMSE (Root Mean Square Error) value is available.

Czech abstract

This contribution deals with attitude estimation algorithm based on measuring angular rate, earth magnetic field and accelerations. At first, two main methods usually used for attitude estimation are described. Subsequently the particular form of complementary filter attitude estimator is shown. Then the tuning of algorithm parameters using MATLAB environment is described. For this, precise model of multicopter, which was made in Simulink environment, was used. Testing trajectory along with simulated sensor and true data were made using above mentioned model, so the comparison through RMSE (Root Mean Square Error) value is available.

English abstract

This contribution deals with attitude estimation algorithm based on measuring angular rate, earth magnetic field and accelerations. At first, two main methods usually used for attitude estimation are described. Subsequently the particular form of complementary filter attitude estimator is shown. Then the tuning of algorithm parameters using MATLAB environment is described. For this, precise model of multicopter, which was made in Simulink environment, was used. Testing trajectory along with simulated sensor and true data were made using above mentioned model, so the comparison through RMSE (Root Mean Square Error) value is available.

Keywords

Multicopter, Attitude Estimation, Kalman Filtering, Complementary Filter

RIV year

2013

Released

18.11.2013

Publisher

Electroscope

Location

Plzeň

Pages from

1

Pages to

6

Pages count

6

BibTex


@article{BUT103058,
  author="Radek {Baránek} and František {Šolc}",
  title="TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER",
  annote="This contribution deals with attitude estimation algorithm based on measuring angular rate, earth magnetic field and accelerations. At first, two main methods usually used for attitude estimation are described. Subsequently the particular form of complementary filter attitude estimator is shown. Then the tuning of algorithm parameters using MATLAB environment is described. For this, precise model of multicopter, which was made in Simulink environment, was used. Testing trajectory along with simulated sensor and true data were made using above mentioned model, so the comparison through RMSE (Root Mean Square Error) value is available.",
  address="Electroscope",
  chapter="103058",
  howpublished="print",
  institution="Electroscope",
  number="5",
  volume="2013",
  year="2013",
  month="november",
  pages="1--6",
  publisher="Electroscope",
  type="journal article"
}