Title :
Performance analysis of a Kalman Filter based attitude estimator for a Quad Rotor UAV
Author :
Abeywardena, D.M.W. ; Munasinghe, S.R.
Author_Institution :
Dept. of Electron. & Telecommun. Eng., Univ. of Moratuwa, Moratuwa, Sri Lanka
Abstract :
This paper analyzes the performance of an Extended Kalman Filter (EKF) based attitude estimator for a Quad Rotor Unmanned Aerial Vehicle (QRUAV). A non-linear dynamic model of the QRUAV, simulated in Matlab was complemented with an EKF based attitude estimator. The estimator fuses measurements obtained from simulated accelerometers and gyroscopes onboard the QRUAV. It is then shown that this estimator only results in adequate representation of the attitude when the translational velocity is large. This behavior is explained considering the dynamics of the vehicle and the onboard accelerometers. Also a possible method of exploiting this behavior for improving the estimation accuracy is suggested.
Keywords :
Kalman filters; accelerometers; gyroscopes; nonlinear filters; remotely operated vehicles; state estimation; vehicle dynamics; EKF based attitude estimator; Matlab; extended Kalman filter; gyroscopes; nonlinear dynamic model; onboard accelerometers; quad rotor UAV; quad rotor unmanned aerial vehicle; translational velocity; Accelerometers; Aerodynamics; Estimation; Gyroscopes; Kalman filters; Mathematical model; Vehicle dynamics;
Conference_Titel :
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2010 International Congress on
Conference_Location :
Moscow
Print_ISBN :
978-1-4244-7285-7
DOI :
10.1109/ICUMT.2010.5676596