Title :
Real-time attitude estimation techniques applied to a four rotor helicopter
Author :
Earl, Matthew G. ; Andrea, Raffaello D.
Author_Institution :
Dept. of Theor. & Appl. Mech., Cornell Univ., Ithaca, NY, USA
Abstract :
We use a decomposition approach to develop a real time filter that estimates the attitude of a small four rotor helicopter. The filter uses measurements from a three axis gyro system and an off-board computer vision system. We have implemented the filter on the real system to demonstrate its effectiveness.
Keywords :
aircraft control; attitude measurement; helicopters; real-time systems; decomposition approach; four rotor helicopter; off-board computer vision system; real time filter; real-time attitude estimation techniques; three axis gyro system; Angular velocity; Antenna measurements; Cameras; Communication system control; Filters; Helicopters; Machine vision; Rotors; Vehicles; Velocity measurement;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429365
