Detail publikace

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

BARÁNEK, R. ŠOLC, F.

Originální název

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Anglický název

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Dokumenty

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 - other"
}