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BARÁNEK, R. ŠOLC, F.
Originální název
Precise Model of Multicopter for Development of Algorithms for Autonomous Flight
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
This article describes precise mathematical model of multicopter. The model can be easily implemented in various simulation environments like Simulink, Xcos etc. The advantage of using mathematical models for development of navigational, control and attitude estimation algorithms lies in the impossibility to damage the real platform and in the knowledge of all state variables. The model is based on classical free rigid body dynamics driven by forces and moments. The quaternions are used for attitude representation for nonsingular operation. This rigid body dynamics are extended by precise models of inertial and magnetic sensors, by motors thrusts to forces and torques relations and by precise model of aerodynamic drag forces and torques.
Klíčová slova
mathematical model, multicopter, sensor models, aerodynamic drag
Autoři
BARÁNEK, R.; ŠOLC, F.
Rok RIV
2013
Vydáno
7. 10. 2013
Nakladatel
Springer
Místo
Switzerland
ISBN
978-3-319-02293-2
Kniha
Mechatronics 2013, Recent Technologycal and Scientific Advances
Číslo edice
1
Strany od
519
Strany do
526
Strany počet
8
BibTex
@inproceedings{BUT101945, author="Radek {Baránek} and František {Šolc}", title="Precise Model of Multicopter for Development of Algorithms for Autonomous Flight", booktitle="Mechatronics 2013, Recent Technologycal and Scientific Advances", year="2013", number="1", pages="519--526", publisher="Springer", address="Switzerland", doi="10.1007/978-3-319-02294-9", isbn="978-3-319-02293-2" }