quadrotor, extended Kalman filter, attitude estimation
The article examines consequences and practical aspects of using an improved dynamic model for quadrotor state estimation with only IMU measurements. The improved model correctly explains the measurements available from the accelerometers on a quadrotor. We give a brief tutorial to explain the difference between accelerometer measurements on a ground vehicle and a quadrotor. We demonstrate several observers based on the improved model to illustrate the estimation improvements available. It is shown that the parameters for this model can be estimated as elements of the state, which makes the model simple to implement and utilize. Finally, we provide hardware results demonstrating the improved attitude, velocity and position estimates can that be achieved through the use of the model.
Original Publication Citation
vol. 34, no. 1, 2014
BYU ScholarsArchive Citation
Leishman, Robert C.; Macdonald, John; Beard, Randal W.; and McLain, Timothy W., "Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model" (2014). All Faculty Publications. 1419.
Ira A. Fulton College of Engineering and Technology
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