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http://dx.doi.org/10.5302/J.ICROS.2015.14.8040

Study of Sensor Fusion for Attitude Control of a Quad-rotor  

Yu, Dong-Hyeon (School of Department of Electronic Engineering, Chon-buk National University)
Lim, Dae Young (School of Department of Electronic Engineering, Chon-buk National University)
Sel, Nam O (School of Department of Electronic & Electronic Engineering, Seonam University)
Park, Jong Ho (School of Department of Electronic & Electronic Engineering, Seonam University)
Chong, Kil to (School of Department of Electronic Engineering, Chon-buk National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.5, 2015 , pp. 453-458 More about this Journal
Abstract
We presented a quad-rotor controlling algorithm design by using sensor fusion in this paper. The controller design technique was performed by a PD controller with a Kalman filter and compensation algorithm for increasing the stability and reliability of the quad-rotor attitude. In this paper, we propose an attitude estimation algorithm for quad-rotor based sensor fusion by using the Kalman filter. For this reason, firstly, we studied the platform configuration and principle of the quad-rotor. Secondly, the bias errors of a gyro sensor, acceleration and geomagnetic sensor are compensated. The measured values of each sensor are then fused via a Kalman filter. Finally, the performance of the proposed algorithm is evaluated through experimental data of attitude estimation. As a result, the proposed sensor fusion algorithm showed superior attitude estimation performance, and also proved that robust attitude estimation is possible even in disturbance.
Keywords
Attitude control; Kalman filter; sensor fusion; quad-rotor;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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