Abstract
A fusion algorithm for attitude estimation of MAV(Micro Aerial Vehicle) is presented. The algorithm use quaternion to represent rotation. Attitude quaternion errors and drift bias of gyros are selected to construct a Kalman filter state vector. The output of GPS is used to correct the accelerometer readings. The local earth magnetic and gravity are used to compute observation of Kalman filter by Levenberg-Marquardt algorithm. The algorithm can converge quickly to rotation attitude of small flight vehicle.
Original language | English |
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Title of host publication | Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011 |
Pages | 36-38 |
Number of pages | 3 |
DOIs | |
Publication status | Published - 2011 |
Event | 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011 - Hangzhou, China Duration: 26 Aug 2011 → 27 Aug 2011 |
Publication series
Name | Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011 |
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Volume | 2 |
Conference
Conference | 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011 |
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Country/Territory | China |
City | Hangzhou |
Period | 26/08/11 → 27/08/11 |
Keywords
- Kalman filter
- Levenberg-Marquardt algorithm
- attitude estimation
- fusion algorithm
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Xu, M., Wu, Y., Wang, Z., Li, C., & Fan, N. (2011). Attitude estimation of MAV based on fusion algorithm. In Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011 (pp. 36-38). Article 6038209 (Proceedings - 2011 3rd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2011; Vol. 2). https://doi.org/10.1109/IHMSC.2011.79