Publication detail

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

BARÁNEK, R.

Original Title

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

English Title

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

Type

conference paper

Language

en

Original 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.

English 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 model

RIV year

2015

Released

23.04.2015

Publisher

Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních

Location

Brno

ISBN

978-80-214-5148-3

Book

Proceedings of the 21st Conference STUDENT EEICT 2015

Pages from

445

Pages to

449

Pages count

5

Documents

BibTex


@inproceedings{BUT115687,
  author="Radek {Baránek}",
  title="MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL",
  annote="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.",
  address="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  booktitle="Proceedings of the 21st Conference STUDENT EEICT 2015",
  chapter="115687",
  howpublished="electronic, physical medium",
  institution="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  year="2015",
  month="april",
  pages="445--449",
  publisher="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  type="conference paper"
}