文章基本信息

标题：Quadrotor attitude estimation with gyroscope bias reconstruction capabilities
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作者：Jing Chang ; Jérôme Cieslak ; Ali Zolghadri 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：5
页码：260-265
DOI：10.1016/j.ifacol.2016.07.123
语种：English
出版社：Elsevier
摘要：AbstractThis 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.
关键词：KeywordsQuadrotor Attitude EstimationGyroscope Bias ReconstructionSliding Mode ObserverNonlinear Complementary filter