Nonlinear estimation of quadcopter states using unscented Kalman filter
Abstract
Keywords
Full Text:
PDFReferences
Shweta G., Paul I. T. M., James M. Conrad,” A Survey of Quadrotor Unmanned Aerial Vehicles”,
Conference Proceedings of IEEE Southeastcon, 15-18 March 2012.
S. Sarath Chandra, A. S. C. S. Sastry,” Autopilot Quadcopter”, Periodicals of Engineering and Natural
Sciences, Vol.6, No.1, pp. 326‒331, December, 2018.
Johan Jansen,” Autonomous Localization and Tracking for UAVs using Kalman Filtering”, Master thesis,
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and
Electrical Engineering, July, 2014.
M. R. Mosavi, I. Emam Gholipour,” De-noising of GPS Receivers Positioning Data Using
Wavelet Transform and Bilateral Filtering”, Springer, Wireless Personal Communications Journal, pp.
–2312, New York, 2012.
J. A. A. S. Somasiri, D. P. Chandima, A. G. B. P Jayasekara,” Extended Kalman Filter Based Autonomous
Flying System for Quadcopters”, IEEE, 2nd International Conference on Electrical Engineering (EECon),
Colombo, Sri Lanka, pp. 130-137, 28 Sep 2018.
Stanislaw K., Piotr K., Jan M.,”Comparison of Estimation Accuracy of EKF, UKF AND PF Filters”, WIT
Transactions on Modelling and Simulation, VOL. 46, pp. 779-789, 2007.
Zongsheng Zheng, Junbo Zhao, Lamine Mili, Zhigang Liu.” Unscented Kalman Filter-based Unbiased
Minimum-Variance Estimation for Nonlinear Systems with Unknown Inputs”, IEEE Signal Processing
Letters, VOL. 26, NO. 8, pp. 1162-1166, August 2019·
Pengcheng Wang, Zhihong Man, Zhenwei Cao, Jinchuan Zheng, Yong Zhao,” Dynamics Modelling and
Linear Control of Quadcopter”, IEEE, Proceedings of the International Conference on Advanced
Mechatronic Systems, Melbourne, Australia, pp. 498-503 November 30 – December 3, 2016.
Fernando H.C.T.E., De Silva A.T. A., De Zoysa M.D.C., Dilshan K.A.D.C, Munasinghe S.R.,” Modelling,
Simulation Implementation pf a Quadrotor UAV”, IEEE 8th International Conference on Industrial and
Information Systems, ICIIS, pp. 207-212, Sri Lanka, August, 2013.
Sevkuthan Kurak, Migdat Hodzic,” Control and Estimation of a Quadcopter Dynamical Model”,
Periodicals of Engineering and Natural Sciences, Vol.6, No.1, pp. 63‒75, March, 2018.
M. Rich, “Model development, system identification, and control of a quadrotor helicopter”, Graduate
Theses and Dissertations, Electrical and Computer Engineering, Paper 12770, Iowa State University, 2012.
Sumaila Musa,” Techniques for Quadcopter Modelling & Design: A Review”. Journal of Unmanned
System Technology, Vol. 5, No. 3, pp. 66-75, 2017.
Jose J. Castillo–Zamora, Karla A. Camarillo–Gomez, Gerardo I. Perez–Soto, Juvenal Rodriguez–
Resendiz,“Comparison of PD, PID and Sliding-Mode Position Controllers for V–tail Quadcopter Stability”,
IEEE Access Journal, Vol. 4, 2018.
V.T. Hoang, M.D. Phung, Q.P. Ha,” Adaptive Twisting Sliding Mode Control for Quadrotor Unmanned
Aerial Vehicles”, IEEE, 11th Asian Control Conference (ASCC), Australia, pp.671-676, December 17-20,
Yaser Alaiwi , Aşkın Mutlu,” Modelling, Simulation and Implementation of Autonomous Unmanned
Quadcopter”. Journal of Machines, Technologies and Materials. 2018.
Denis Kotarski, Zoran Benić, Matija Krznar,” Control Design for Unmanned Aerial Vehicles with Four
Rotors”. Journal of Interdisciplinary Description of Complex Systems 14(2), page 236-245, march, 2016.
Stephen Armah, Sun Yi, Wonchang Choi, Dongchul Shin,” Feedback Control of Quad-Rotors with a
Matlab-Based Simulator”. American Journal of Applied Sciences, Vol. 13, Issue 6, pp. 779-793, USA,
Bouzgou K., Bestaoui Y., Benchikh L., Ibari B., Ahmed F. Z. Bouzgou K,” Dynamic Modeling, Simulation
and PID Controller of Unmanned Aerial Vehicle UAV”, IEEE, The Seventh International Conference on
Innovative Computing Technology (INTECH), USA,16-18 Aug 2017.
T. Fiorenzani, C. Manes, G. Oriolo, P. Peliti,” Comparative Study of Unscented Kalman Filter and
Extended Kalman Filter for Position/Attitude Estimation in Unmanned Aerial Vehicles”, Istituto di Analisi
Sistemi ed Informatica, IASI-CNR, August, 2008.
Mathieu St-Pierre, Denis Gingras Dr. Ing.,” Comparison between the unscented Kalman filter and the
extended Kalman filter for the position estimation module of an integrated navigation information system”,
IEEE Intelligent Vehicles Symposium Conference, Parma, Italy, pp. 831-835, 14-17 June, 2004.
Eric A. Wan and Rudolph van der Menve,” The Unscented Kalman Filter for Nonlinear Estimation”, In
Proceedings of Symposium 2000 on Adaptive Systems for Signal rocessing, Communication and
Control(AS-SPCC), IEEE Press.2000.
Simon Julier, Jeffrey Uhlmann, and Hugh F. Durrant-Whyte,” A New Method for the Nonlinear
Transformation of Means and Covariances in Filters and Estimators”, IEEE Transactions on Automatic
Control, VOL. 45, NO. 3, MARCH 2000.
DOI: http://dx.doi.org/10.21533/pen.v7i4.878
Refbacks
- There are currently no refbacks.
Copyright (c) 2019 Authors
This work is licensed under a Creative Commons Attribution 4.0 International License.
ISSN: 2303-4521
Digital Object Identifier DOI: 10.21533/pen
This work is licensed under a Creative Commons Attribution 4.0 International License