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Zdeněk Bouček and Ondřej Straka and Miroslav Flídr : Attitude Estimation for Quadrotor UAV by Unscented Kalman Filter . The 14th European Workshop on Advanced Control and Diagnosis (ACD) 2017, Bucharest, Romania, 2017.

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Abstrakt

The paper deals with the attitude estimation of a quadrotor UAV. The attitude is represented using quaternions and estimated by the unscented Kalman filter (UKF). Two UKF implementations respecting the quaternion normalization are compared. The first one explicitly normalizes the quaternion estimate while the second one uses an error vector as the model state. Comparison of both implementations is based on the flight experiment data, where the ground truth is provided by the motion capture system VICON.

Detail publikace

Název: Attitude Estimation for Quadrotor UAV by Unscented Kalman Filter
Autor: Zdeněk Bouček ; Ondřej Straka ; Miroslav Flídr
Jazyk publikace: anglicky
Datum vydání: 17.11.2017
Rok vydání: 2017
Typ publikace: Stať ve sborníku
Název časopisu / knihy: The 14th European Workshop on Advanced Control and Diagnosis (ACD) 2017
Místo vydání: Bucharest, Romania
Datum: 16.11.2017 - 17.11.2017
/ 2020-04-22 10:13:59 /

Klíčová slova

inertial measurement unit, quaternion, Un-manned Aerial Vehicle, unscented Kalman filter

BibTeX

@INPROCEEDINGS{ZdenekBoucek_2017_AttitudeEstimation,
 author = {Zden\v{e}k Bou\v{c}ek and Ond\v{r}ej Straka and Miroslav Fl\'{i}dr},
 title = {Attitude Estimation for Quadrotor UAV by Unscented Kalman Filter},
 year = {2017},
 journal = {The 14th European Workshop on Advanced Control and Diagnosis (ACD) 2017},
 address = {Bucharest, Romania},
 url = {http://www.kky.zcu.cz/en/publications/ZdenekBoucek_2017_AttitudeEstimation},
}