TY - GEN
T1 - Dead reckoning and Kalman filter design for trajectory tracking of a quadrotor UAV
AU - Zhou, Qing Li
AU - Zhang, Youmin
AU - Qu, Yao Hong
AU - Rabbath, Camille Alain
PY - 2010
Y1 - 2010
N2 - The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.
AB - The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/77957361599
U2 - 10.1109/MESA.2010.5552088
DO - 10.1109/MESA.2010.5552088
M3 - 会议稿件
AN - SCOPUS:77957361599
SN - 9781424471010
T3 - Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
SP - 119
EP - 124
BT - Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
T2 - 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010
Y2 - 15 July 2010 through 17 July 2010
ER -