Multi-rotor UAV attitude calculation based on Extended Kalman Filter

Zheng, Yajun; Dong, Lu; Wang, Qingling

doi:10.1109/ccdc.2018.8407180

Cited by 5 publications

(2 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Derawi et al [ 66 , 67 ], Poksawat et al [ 68 ] and Zheng et al [ 69 ] present the mathematical modelling, estimation, attitude (drone position) control and altitude control of a hexacopter. Their works present the following contributions: First, mathematical modelling is performed, based on which the equations of the hexacopter model are obtained.…”

Section: Related Workmentioning

confidence: 99%

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Stamate

Pupăză

Nicolescu

et al. 2023

Sensors

View full text Add to dashboard Cite

Today, there is a conspicuous upward trend for the development of unmanned aerial vehicles (UAVs), especially in the field of multirotor drones. Their advantages over fixed-wing aircrafts are that they can hover, which allows their usage in a wide range of remote surveillance applications: industrial, strategic, governmental, public and homeland security. Moreover, because the component market for this type of vehicles is in continuous growth, new concepts have emerged to improve the stability and reliability of the multicopters, but efficient solutions with reduced costs are still expected. This work is focused on hexacopter UAV tests carried out on an original platform both within laboratory and on unrestricted open areas during the start–stop manoeuvres of the motors to verify the operational parameters, hover flight, the drone stability and reliability, as well as the aerodynamics and robustness at different wind speeds. The flight parameters extracted from the sensor systems’ comprising accelerometers, gyroscopes, magnetometers, barometers, GPS antenna and EO/IR cameras were analysed, and adjustments were performed accordingly, when needed. An FEM simulation approach allowed an additional decision support platform that expanded the experiments in the virtual environment. Finally, practical conclusions were drawn to enhance the hexacopter UAV stability, reliability and manoeuvrability.

show abstract

Section: Related Workmentioning

confidence: 99%

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Stamate

Pupăză

Nicolescu

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…Wind effects are estimated by observers, stochastic or deterministic as ( [24], while [25] presents an estimation strategy to compensate the external wrench exerted on the aerial multi-link robot while estimating external forces. Different state-estimation techniques as sliding-mode based observers [26] are also used to improve the performance of the system, however, due to its performance the Kalman Filter is widely used [27], [28], [29], [30], [31], [32], [33], [34], [35]. In this paper, we consider a multi-link aerial system that is intended to track a time-based trajectory while rejecting parametric and external disturbances during a multiple-load transportation task.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Castillo-Zamora

Escareño

Boussaada

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

View full text Add to dashboard Cite

The actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based approach. The aforementioned system is subjected to lumped disturbances which comprise external disturbances and parametric uncertainties. An Augmented-State Extended Kalman Filter intended to estimate endogenous and exogenous uncertainties is conceived and trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.

show abstract

Attitude estimation of connected drones based on extended Kalman filter under real outdoor environments

2022

View full text Add to dashboard Cite

Multi-rotor UAV attitude calculation based on Extended Kalman Filter

Cited by 5 publications

References 13 publications

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Attitude estimation of connected drones based on extended Kalman filter under real outdoor environments

Contact Info

Product

Resources

About