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http://dx.doi.org/10.5573/ieie.2016.53.7.095

Geomagnetic Sensor Compensation and Sensor Fusion for Quadrotor Heading Direction Control  

Lee, You Jin (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology)
Ryoo, Jung Rae (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.53, no.7, 2016 , pp. 95-102 More about this Journal
Abstract
Geomagnetic sensors are widely utilized for sensing heading direction of quadrotors. However, measurement from a geomagnetic sensor is easily corrupted by environmental magnetic field interference and roll/pitch directional motion. In this paper, a measurement method of a quadrotor heading direction is proposed for application to yaw attitude control. In order to eliminate roll/pitch directional motion effect, the geomagnetic sensor data is compensated using the roll/pitch angles measured for stabilization control. In addition, yaw-directional angular velocity data from a gyroscope sensor is fused with the geomagnetic sensor data using a complementary filter which is a simple and intuitive sensor fusion method. The proposed method is applied to experiments, and the results are presented to prove validity and effectiveness of the proposed method.
Keywords
quadrotor; heading direction control; complementary filter; geomagnetic sensor; gyroscope sensor;
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Times Cited By KSCI : 7  (Citation Analysis)
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