Title :
Sensor signal filtering in quadrotor control
Author :
Pham, S.T. ; Chew, M.T.
Author_Institution :
Centre of Technol., RMIT Int. Univ. Vietnam, Ho Chi Minh City, Vietnam
Abstract :
This paper presents a simple low cost quadrotor remotely controlled through a standard 4-channel terminal and ARM-based flight controller board employing two MEMS sensors (3-axis gyroscope and 3-axis accelerometer). With the aim to improve the quality of the aerial vehicle control the paper presents the experimental comparison between two sensor data filtering algorithms: complementary filtering and Kalman filtering.
Keywords :
Kalman filters; accelerometers; autonomous aerial vehicles; gyroscopes; microsensors; rotors; 3-axis accelerometer; 3-axis gyroscope; ARM-based flight controller; Kalman filtering; MEMS sensors; aerial vehicle control; complementary filtering; quadrotor control; sensor signal filtering; standard 4-channel terminal; Accelerometers; Estimation; Gyroscopes; Kalman filters; Noise measurement; Rotors; Kalman filtering; accelerometer; attitude estimation; complementary filtering; gyroscope; quadrotor; sensors;
Conference_Titel :
Sensors Applications Symposium (SAS), 2014 IEEE
Conference_Location :
Queenstown
Print_ISBN :
978-1-4799-2180-5
DOI :
10.1109/SAS.2014.6798964
