Abstract
In this paper, a nonlinear complementary filter ( x-estimator) is presented to estimate the attitude of a vertical take off and landing unmanned aerial vehicle (VTOL UAV). The measurements are taken from a low-cost IMU (inertial measurement unit) which consists of 3-axis accelerometers and 3-axis gyroscopes. The gyro bias are estimated online. A second nonlinear complementary filter ( z-estimator) which combines 3-axis gyroscope readings with 3-axis magnetometer measurements, is also designed. Based on the proposed estimators, the full orientation matrix R will be retrieved. Note that R evolves on the special orthogonal group SO ( 3 ) , since it is a transformation matrix between two orthogonal frames. This representation of orientation by the rotation matrix allows to overcome the problem of singularities that appear in local parametrization such as Euler angles. Therefore, both estimators may be used to describe any type of 3D motion. The convergence of the two observers is theoretically and experimentally proven; simulations and experiments are conducted on a real platform in hovering flight conditions.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
