Attitude estimation for collision recovery of a quadcopter unmanned aerial vehicle

An extensive evaluation of attitude estimation algorithms in simulation and experiments is performed to determine their suitability for a collision recovery pipeline of a quadcopter unmanned aerial vehicle. A multiplicative extended Kalman filter (MEKF), unscented Kalman filter (UKF), complementary...

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Veröffentlicht in:	The International journal of robotics research 2019-09, Vol.38 (10-11), p.1286-1306
Hauptverfasser:	Battiston, Adrian, Sharf, Inna, Nahon, Meyer
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive algorithms Adaptive filters Algorithms Attitudes Computer simulation Controllers Environment models Extended Kalman filter Flight tests H-infinity control Inertial platforms Motion capture Post-production processing Recovery Simulation Unmanned aerial vehicles
Online-Zugang:	Volltext
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