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Using Alpha-beta filtration for robustness improvement of a quadrocopter positioning system

Abstrakt

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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Informacje szczegółowe

Kategoria:
Publikacja w czasopiśmie
Typ:
artykuły w czasopismach recenzowanych i innych wydawnictwach ciągłych
Opublikowano w:
Poznan University of Technology Academic Journals. Electrical Engineering nr 84, strony 55 - 61,
ISSN: 1897-0737
Język:
angielski
Rok wydania:
2015
Opis bibliograficzny:
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
Weryfikacja:
Politechnika Gdańska

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