Publication result detail

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

BARÁNEK, R.; ŠOLC, F.

Original Title

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

English Title

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Type

Peer-reviewed article not indexed in WoS or Scopus

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.

English 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

Key words in English

Multicopter, Attitude Estimation, Kalman Filtering, Complementary Filter

Authors

BARÁNEK, R.; ŠOLC, F.

RIV year

2016

Released

18.11.2013

Publisher

Electroscope

Location

Plzeň

ISBN

1802-4564

Periodical

ElectroScope - http://www.electroscope.zcu.cz

Volume

2013

Number

5

State

Czech Republic

Pages from

1

Pages to

6

Pages count

6

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"
}