Abstract
The paper deals with model-based attitude estimation for multicopters and is mainly focused on investigation of accuracy degradation due to wind and inaccurate model parameters which are conditions al- ways present when using in real world. At first the need for model-base estimation is motivated. Then the mul- ticopter model is described. Based on the mathematical model of multicopter, the estimation algorithm utilizing the extended Kalman filter is constructed. The main contribution of the paper is the investigation of the neg- ative impact of the wind and of inaccurate knowledge of the model parameters.
Highlights
Multicopters are VTOL (Vertical Take-Off and Landing) aerial vehicles (AVs) included within the class of multirotor helicopters
In this chapter the mathematical model of multicopter is mentioned. This model was used for generation of input data for simulation of attitude estimation algorithm
The reason that one can assume that wind should have negative impact on accuracy of attitude estimation comes from the fact, that in real world the aerodynamic drag is proportional to relative velocity with respect to wind while the estimation algorithm assumes it is proportional to inertial speed
Summary
Multicopters are VTOL (Vertical Take-Off and Landing) aerial vehicles (AVs) included within the class of multirotor helicopters. The presented models of controlled AVs consider only the forces and moments caused by propellers in hovering and neglect all other aerodynamic effects because of the low linear velocities. Such models do not produce accelerometer data usable for good feedback ensuring accurate information on the attitude of an AV [7]. Mathematical model of multicopter is studied in many recent publication focused mainly on attitude and position control [1], [2], [3], [4], [5] and for attitude estimation [10] They differ in level of precision and in number of modeled effects.
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