TY - JOUR
T1 - A Two-Step Approach for an Enhanced Quadrotor Attitude Estimation via IMU Data
AU - Chang, Jing
AU - Cieslak, Jérôme
AU - Dávila, Jorge
AU - Zhou, Jun
AU - Zolghadri, Ali
AU - Guo, Zongyi
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/5
Y1 - 2018/5
N2 - In this brief, an approach is presented to design a robust quadrotor attitude estimator when only inertial measurement units (IMUs) sensor data can be available. A two-step procedure is proposed to improve attitude estimation in the presence of IMU biases and measurement noise. In the first step, a smooth sliding mode observer is designed to estimate the roll and pitch angles using accelerometer measurements. The second step enhances the attitude estimation performance in the presence of noise and bias in IMU data by using a complementary nonlinear filter. Experimental results on a quadrotor test bed together with simulation results obtained using a representative nonlinear model are used to highlight the potential and performance of the proposed solution.
AB - In this brief, an approach is presented to design a robust quadrotor attitude estimator when only inertial measurement units (IMUs) sensor data can be available. A two-step procedure is proposed to improve attitude estimation in the presence of IMU biases and measurement noise. In the first step, a smooth sliding mode observer is designed to estimate the roll and pitch angles using accelerometer measurements. The second step enhances the attitude estimation performance in the presence of noise and bias in IMU data by using a complementary nonlinear filter. Experimental results on a quadrotor test bed together with simulation results obtained using a representative nonlinear model are used to highlight the potential and performance of the proposed solution.
KW - Gyroscope bias reconstruction
KW - nonlinear complementary filter (CF)
KW - quadrotor attitude estimation (QAE)
KW - sliding mode observer
UR - http://www.scopus.com/inward/record.url?scp=85019036139&partnerID=8YFLogxK
U2 - 10.1109/TCST.2017.2695164
DO - 10.1109/TCST.2017.2695164
M3 - Artículo
SN - 1063-6536
VL - 26
SP - 1140
EP - 1148
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 3
ER -