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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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Abstract

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 of publication

Title: Attitude Estimation for Quadrotor UAV by Unscented Kalman Filter
Author: Zdeněk Bouček ; Ondřej Straka ; Miroslav Flídr
Language: English
Date of publication: 17 Nov 2017
Year: 2017
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: The 14th European Workshop on Advanced Control and Diagnosis (ACD) 2017
Address: Bucharest, Romania
Date: 16 Nov 2017 - 17 Nov 2017
/ 2020-04-22 10:13:59 /

Keywords

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},
}