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BARÁNEK, R. ŠOLC, F.
Original Title
TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER
Type
journal article - other
Language
English
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.
Keywords
Multicopter, Attitude Estimation, Kalman Filtering, Complementary Filter
Authors
BARÁNEK, R.; ŠOLC, F.
RIV year
2013
Released
18. 11. 2013
Publisher
Electroscope
Location
Plzeň
ISBN
1802-4564
Periodical
ElectroScope - http://www.electroscope.zcu.cz
Year of study
Number
5
State
Czech Republic
Pages from
1
Pages to
6
Pages count
BibTex
@article{BUT103058, author="Radek {Baránek} and František {Šolc}", title="TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER", journal="ElectroScope - http://www.electroscope.zcu.cz", year="2013", volume="2013", number="5", pages="1--6", issn="1802-4564" }