DocumentCode :
3666632
Title :
Pose control of quadrotor unmanned aerial vehicle based on double filters
Author :
Yunzhou Zhang;Yihan Zhang;Xiang Mu;Yuxi Wang
Author_Institution :
College of Information Science and Engineering, Northeastern University, Shenyang, China 110819
fYear :
2015
fDate :
6/1/2015 12:00:00 AM
Firstpage :
298
Lastpage :
304
Abstract :
In recent years, the quadrotor unmanned aerial vehicle(UAV) showed a huge advantage in disaster relief activities due to its maneuverability and flexibility. However, the scene of the indoor environment is usually complex and difficult to be detected, the pose control and autonomous navigation for unmanned aerial vehicle meets great difficulties. For the pose control of the quadrobot unmanned aerial vehicle in unknown indoor environment, this paper designed a complementary filter and the Kalman filter. Based on the state estimation by iterations, we effectively implemented the fusion of the close-loop control process and the multi-sensor measurement data. This greatly improves the real-time performance and precision of the pose control for quadrobot UAV. Simulation experiments show that the pose control system designed in this paper can achieve excellent effect when it was applied for autonomous flight of quadrobot UAV. This laid a solid foundation for the navigation of unmanned aerial vehicle.
Keywords :
"State estimation","Data integration","Filtering theory","Kalman filters","Noise","Control systems","Unmanned aerial vehicles"
Publisher :
ieee
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
Type :
conf
DOI :
10.1109/CYBER.2015.7287952
Filename :
7287952
Link To Document :
بازگشت