Abstract:Purpose
The purpose of this paper is to present an improved particle filter-based attitude estimator for a quadrotor unmanned aerial vehicle (UAV) that addresses the degeneracy issues.
Design/methodology/approach
Control of a quadrotor is not sufficient enough without an estimator to eliminate the noise from low-cost sensors. In this work, particle filter-based attitude estimator is proposed and used for nonlinear quadrotor dynamics. But, since recursive Bayesian estimation steps may rise degeneracy issues, … Show more
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