Title:	Tuning of complementary filter attitude estimator using presice model of multicopter
Authors:	Baránek, Radek Šolc, František
Citation:	Electroscope. 2013, č. 5, EEICT + EDS.
Issue Date:	2013
Publisher:	Západočeská univerzita v Plzni, Fakulta elektrotechnická
Document type:	článek article
URI:	http://147.228.94.30/images/PDF/Rocnik2013/Cislo5_2013/r7c5c1.pdf http://hdl.handle.net/11025/6615
ISSN:	1802-4564
Keywords:	odhad polohy;anténní systémy;elektrotechnická měření;simulace;multikoptéra
Keywords in different language:	attitude estimation;aerial systems;electrical measurements;simulation;multicopter
Abstract in different language:	This contribution deals with attitude estimation algorithm based on measuring angular rate, earth magnetic field and specific force and with the tuning of its parameters. At first, sensors and 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’s parameters using brute force simulation is described. For this trajectory generated using precise model of multicopter was used. Testing trajectory reflects usual mission of unmanned aerial vehicles called waypoint navigation. Use of trajectory generated by model is convenient because of the knowledge of the true state variables, so the comparison through RMSE (Root Mean Square Error) value is possible.
Rights:	© 2013 Electroscope. All rights reserved.
Appears in Collections:	Číslo 5 (2013) Číslo 5 (2013)

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