Title :
Attitude Estimation using Low-Cost Sensors: a comparative analysis
Author :
Sanz, Ricardo ; Rodenas, Luis ; Garcia, Pedro ; Albertos, Pedro
Author_Institution :
Inst. de Autom. e Inf. Ind., Univ. Politec. de Valencia, Valencia, Spain
Abstract :
In this paper several algorithms to estimate the attitude of a UAS using low-cost sensors are reviewed and a new one including the angular velocity is proposed. The fusion of measurement coming from gyroscopes and accelerometers is based on the Kalman filter. A quadrotor experimental platform is used to compare the measurement systems. The estimation results are evaluated under different conditions and compared against the results obtained with an industrial measurement device.
Keywords :
Kalman filters; accelerometers; attitude control; autonomous aerial vehicles; estimation theory; gyroscopes; helicopters; mobile robots; sensor fusion; Kalman filter; UAS attitude estimation; accelerometers; angular velocity; gyroscopes; low-cost sensors; quadrotor experimental platform; unmanned aerial systems; Accelerometers; Angular velocity; Estimation; Gyroscopes; Kalman filters; Sensors; Vectors; Kalman; attitude; estimation; low-cost; sensors;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053429
