Detail publikačního výsledku

Precise Model of Multicopter for Development of Algorithms for Autonomous Flight

BARÁNEK, R.; ŠOLC, F.

Originální název

Precise Model of Multicopter for Development of Algorithms for Autonomous Flight

Anglický název

Precise Model of Multicopter for Development of Algorithms for Autonomous Flight

Druh

Stať ve sborníku v databázi WoS či Scopus

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.

Anglický 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

Klíčová slova v angličtině

mathematical model, multicopter, sensor models, aerodynamic drag

Autoři

BARÁNEK, R.; ŠOLC, F.

Rok RIV

2014

Vydáno

07.10.2013

Nakladatel

Springer

Místo

Switzerland

ISBN

978-3-319-02293-2

Kniha

Mechatronics 2013, Recent Technologycal and Scientific Advances

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"
}