Quadrotor attitude estimation with gyroscope bias reconstruction capabilities

Jing Chang; Jérôme Cieslak; Ali Zolghadri; Jorge Dávila; Jun Zhou

doi:10.1016/j.ifacol.2016.07.123

Quadrotor attitude estimation with gyroscope bias reconstruction capabilities

Jing Chang, Jérôme Cieslak, Ali Zolghadri, Jorge Dávila, Jun Zhou

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Ticomán

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

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.

Original language	English
Pages (from-to)	260-265
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	49
Issue number	5
DOIs	https://doi.org/10.1016/j.ifacol.2016.07.123
State	Published - 2016

Keywords

Gyroscope Bias Reconstruction
Nonlinear Complementary filter
Quadrotor Attitude Estimation
Sliding Mode Observer

Access to Document

10.1016/j.ifacol.2016.07.123

Cite this

@article{3c9934b821724367bd8b1ed375c6fe5a,

title = "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.",

keywords = "Gyroscope Bias Reconstruction, Nonlinear Complementary filter, Quadrotor Attitude Estimation, Sliding Mode Observer",

author = "Jing Chang and J{\'e}r{\^o}me Cieslak and Ali Zolghadri and Jorge D{\'a}vila and Jun Zhou",

note = "Publisher Copyright: {\textcopyright} 2016",

year = "2016",

doi = "10.1016/j.ifacol.2016.07.123",

language = "Ingl{\'e}s",

volume = "49",

pages = "260--265",

journal = "IFAC-PapersOnLine",

issn = "1474-6670",

publisher = "IFAC Secretariat",

number = "5",

}

TY - JOUR

T1 - Quadrotor attitude estimation with gyroscope bias reconstruction capabilities

AU - Chang, Jing

AU - Cieslak, Jérôme

AU - Zolghadri, Ali

AU - Dávila, Jorge

AU - Zhou, Jun

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

KW - Gyroscope Bias Reconstruction

KW - Nonlinear Complementary filter

KW - Quadrotor Attitude Estimation

KW - Sliding Mode Observer

UR - http://www.scopus.com/inward/record.url?scp=84991106823&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2016.07.123

DO - 10.1016/j.ifacol.2016.07.123

M3 - Artículo

SN - 1474-6670

VL - 49

SP - 260

EP - 265

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 5

ER -

Quadrotor attitude estimation with gyroscope bias reconstruction capabilities

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this