TY - JOUR
T1 - Quadrotor attitude estimation with gyroscope bias reconstruction capabilities
AU - Chang, Jing
AU - Cieslak, Jérôme
AU - Zolghadri, Ali
AU - Dávila, Jorge
AU - Zhou, Jun
N1 - Publisher Copyright:
© 2016
PY - 2016
Y1 - 2016
N2 - This paper addresses the problem of quadrotor attitude estimation when only IMU sensor data are available. First, a Smooth Sliding Mode (SSM) algorithm is considered to provide an estimation of roll/pitch angles. In a second step, the estimates provided by SSM algorithm are used to reformulate the innovation term of the complementary filter in order to enhance the estimation of attitude angles. In addition, it is shown how the proposed solution can be able to reconstruct a bias in the gyroscope measurements. Simulation results obtained on the nonlinear model of quadrotor illustrate the benefits of the proposed scheme.
AB - This paper addresses the problem of quadrotor attitude estimation when only IMU sensor data are available. First, a Smooth Sliding Mode (SSM) algorithm is considered to provide an estimation of roll/pitch angles. In a second step, the estimates provided by SSM algorithm are used to reformulate the innovation term of the complementary filter in order to enhance the estimation of attitude angles. In addition, it is shown how the proposed solution can be able to reconstruct a bias in the gyroscope measurements. Simulation results obtained on the nonlinear model of quadrotor illustrate the benefits of the proposed scheme.
KW - Gyroscope Bias Reconstruction
KW - Nonlinear Complementary filter
KW - Quadrotor Attitude Estimation
KW - Sliding Mode Observer
UR - http://www.scopus.com/inward/record.url?scp=84991106823&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2016.07.123
DO - 10.1016/j.ifacol.2016.07.123
M3 - 文章
AN - SCOPUS:84991106823
SN - 2405-8963
VL - 49
SP - 260
EP - 265
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 5
ER -