Detail publikace

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

BARÁNEK, R.

Originální název

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

Anglický název

MULTICOPTER ATTITUDE ESTIMATION USING DYNAMIC MODEL

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Dokumenty

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"
}