A low-cost attitude estimation system for UAV application

Dacheng Du*, Li Liu, Xiaojing Du

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Citations (Scopus)

Abstract

In this paper, a low-cost attitude estimation system is introduced. The system is developed with MEMS sensors including rate gyros and accelerometers. Composition and principle of the system are described. The rigid body kinematics is modeled with quaternion, such that eliminates attitude estimation singularities. The real-time Kalman filter is designed. Experiments were conducted in both static and dynamic conditions.The experimental results demonstrate that the algorithm and hardware are feasible and suitable for the application where critical accuracy and real-time requirements are needed.

Original languageEnglish
Title of host publication2010 Chinese Control and Decision Conference, CCDC 2010
Pages4489-4492
Number of pages4
DOIs
Publication statusPublished - 2010
Event2010 Chinese Control and Decision Conference, CCDC 2010 - Xuzhou, China
Duration: 26 May 201028 May 2010

Publication series

Name2010 Chinese Control and Decision Conference, CCDC 2010

Conference

Conference2010 Chinese Control and Decision Conference, CCDC 2010
Country/TerritoryChina
CityXuzhou
Period26/05/1028/05/10

Keywords

  • Attitude estimate
  • Kalman filter
  • MEMS sensors
  • Quaternion

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Du, D., Liu, L., & Du, X. (2010). A low-cost attitude estimation system for UAV application. In 2010 Chinese Control and Decision Conference, CCDC 2010 (pp. 4489-4492). Article 5498326 (2010 Chinese Control and Decision Conference, CCDC 2010). https://doi.org/10.1109/CCDC.2010.5498326