Article ID Journal Published Year Pages File Type
491624 Procedia Technology 2014 10 Pages PDF
Abstract

This paper presents a new methodology to estimate the orientation of a quadrotor using single low cost IMU sensor. The proposed solution uses two extended Kalman filters (EKF) along with a Direction Cosine Matrix (DCM) algorithm. An EKF is used to filter the noise signal of the angular rates measured by a 3-axis gyroscope sensor. Subsequently, a DCM algorithm uses the filtered gyro signal along with the reading from a 3-axis accelerometer and a 3-axis magnetometer sensor to compute the Euler angles. Finally, another EKF is presented to improve the estimation of the Euler angles. A complete simulation platform was developed using MatLab software to test the performance of the proposed method and compare it with two alternative methods.

Related Topics
Physical Sciences and Engineering Computer Science Computer Science (General)