Sensor Fusion Using Kalman Filter for a Quadrotor-Attitude Estimation: Basics, Concepts, Modelling, Matlab Code and Experimental Validation - Softcover

Ayman, Samir

Softcover

ISBN 10: 3659854689 ISBN 13: 9783659854682

Publisher: LAP LAMBERT Academic Publishing, 2016

Synopsis

Quad rotors are types of unmanned air vehicles that became an attractive topic to an enormous number of people worldwide. This book focuses on sensor fusion of low-cost inertial sensors: a tri-axis accelerometer, a tri-axis gyroscope and a tri-axis magnetometer. Three types of filters were implemented in this book: two models of linear complementary filter (LCF), two models of linear Kalman filter (KF) and a quaternion-based extended Kalman filter (EKF). A total of five filter models were tested and verified using experimental data sets through three distinct scenarios. Six different data sets were chosen, each with antithetic characteristics, to test the filters on them. On the basis of the results of this research, it can be concluded that taking into consideration accelerometer bias improves the performance of the filter. KF shows the best performance as it combines the characteristics of short computing time and accurate estimation results suiting the aim of the book which is to allow the quad rotor to hover.

About this title

About the Author

Samir Ayman Abdel Aal, born in Cairo on the 2nd of March 1993. Graduated with a BSc. in Mechatronics Engineering at the German University in Cairo in July 2015. Currently working as an Account Manager at IBM, Cairo, Egypt.

Edition details

• Publisher: LAP LAMBERT Academic Publishing
• Publication date: 2016
• Language: English
• ISBN 10: 3659854689
• ISBN 13: 9783659854682
• Binding: Paperback
• Number of pages: 200