Detail publikačního výsledku

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

BARÁNEK, R.; ŠOLC, F.

Originální název

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Anglický název

TUNING OF COMPLEMENTARY FILTER ATTITUDE ESTIMATOR USING PRECISE MODEL OF MULTICOPTER

Druh

Článek recenzovaný mimo WoS a Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Multicopter, Attitude Estimation, Kalman Filtering, Complementary Filter

Klíčová slova v angličtině

Multicopter, Attitude Estimation, Kalman Filtering, Complementary Filter

Autoři

BARÁNEK, R.; ŠOLC, F.

Rok RIV

2016

Vydáno

18.11.2013

Nakladatel

Electroscope

Místo

Plzeň

ISSN

1802-4564

Periodikum

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

Svazek

2013

Číslo

5

Stát

Česká republika

Strany od

1

Strany do

6

Strany počet

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"
}