DocumentCode
3175121
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
Volume
4
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
3956
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1429365
Filename
1429365
Link To Document