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Abstract
Quadrocopter is an unmanned aerial vehicle (UAV) platform. The position of the robot is determined based on readings from an accelerometer and a gyroscope, but the measurement signals contain broadband noise. This article describes a solution for filtering out the noise based on an Alpha – beta filter. It also presents the methodology of designing and implementing such a filter for noise cancellation in measurement signals from accelerometer and gyroscope. The computational complexity of the Alpha – beta filter is similar to a second order low pass filter, but there are no noticeable time delays and filtration gives similar results to that of a Kalman filter. The described filter was designed and implemented in a real vehicle, tested and validated.
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- Category:
- Articles
- Type:
- artykuły w czasopismach recenzowanych i innych wydawnictwach ciągłych
- Published in:
-
Poznan University of Technology Academic Journals. Electrical Engineering
no. 84,
pages 55 - 61,
ISSN: 1897-0737 - Language:
- English
- Publication year:
- 2015
- Bibliographic description:
- Golijanek-Jędrzejczyk A., Rafiński L., Szczesny S.: Using Alpha-beta filtration for robustness improvement of a quadrocopter positioning system// Poznan University of Technology Academic Journals. Electrical Engineering. -Vol. 84., (2015), s.55-61
- Verified by:
- Gdańsk University of Technology
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