Publication detail

Model-Based Attitude Estimation for Multicopters

BARÁNEK, R. ŠOLC, F.

Original Title

Model-Based Attitude Estimation for Multicopters

English Title

Model-Based Attitude Estimation for Multicopters

Type

journal article in Scopus

Language

en

Original Abstract

The paper deals with model-based attitude estimation for multicopters and is mainly focused on investigation of accuracy degradation due to wind and inaccurate model parameters which are conditions always present when using in real world. At first the need for model-base estimation is motivated. Then the multicopter model is described. Based on the mathematical model of multicopter, the estimation algorithm utilizing the extended Kalman filter is constructed. The main contribution of the paper is the investigation of the negative impact of the wind and of inaccurate knowledge of the model parameters.

English abstract

The paper deals with model-based attitude estimation for multicopters and is mainly focused on investigation of accuracy degradation due to wind and inaccurate model parameters which are conditions always present when using in real world. At first the need for model-base estimation is motivated. Then the multicopter model is described. Based on the mathematical model of multicopter, the estimation algorithm utilizing the extended Kalman filter is constructed. The main contribution of the paper is the investigation of the negative impact of the wind and of inaccurate knowledge of the model parameters.

Keywords

Attitude estimation;extended Kalman filter;multicopter

RIV year

2014

Released

31.12.2014

ISBN

1804-3119

Periodical

Advances in Electrical and Electronic Engineering - intenetový časopis (http://advances.utc.sk)

Year of study

2014

Number

5

State

CZ

Pages from

501

Pages to

510

Pages count

10

URL

Documents

BibTex


@article{BUT111346,
  author="Radek {Baránek} and František {Šolc}",
  title="Model-Based Attitude Estimation for Multicopters",
  annote="The paper deals with model-based attitude estimation for multicopters and is mainly focused on investigation of accuracy degradation due to wind and inaccurate model parameters which are conditions always present when using in real world. At first the need for model-base estimation is motivated. Then the multicopter model is described. Based on the mathematical model of multicopter, the estimation algorithm utilizing the extended Kalman filter is constructed. The main
contribution of the paper is the investigation of the negative impact of the wind and of inaccurate knowledge of the model parameters.",
  chapter="111346",
  doi="10.15598/aeee.v12i5.1151",
  howpublished="online",
  number="5",
  volume="2014",
  year="2014",
  month="december",
  pages="501--510",
  type="journal article in Scopus"
}