Quadrotor attitude estimation with gyroscope bias reconstruction capabilities

Abstract : 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.
Type de document :
Communication dans un congrès
IFAC. 4th IFAC International Conference on Intelligent Control and Automation Sciences, Jun 2016, Reims, France. 〈http://icons2016.univ-reims.fr/〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01306942
Contributeur : Jérome Cieslak <>
Soumis le : lundi 25 avril 2016 - 20:38:26
Dernière modification le : jeudi 11 janvier 2018 - 06:21:09

Identifiants

  • HAL Id : hal-01306942, version 1

Citation

Jing Chang, Jérome Cieslak, Ali Zolghadri, Jorge Davila, Jun Zhou. Quadrotor attitude estimation with gyroscope bias reconstruction capabilities. IFAC. 4th IFAC International Conference on Intelligent Control and Automation Sciences, Jun 2016, Reims, France. 〈http://icons2016.univ-reims.fr/〉. 〈hal-01306942〉

Partager

Métriques

Consultations de la notice

100