Robust estimation algorithm of altitude and vertical velocity for multirotor UAVs
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2016
paper
english
EN This paper describes the process of the development and improvement of the altitude and vertical velocity estimation algorithm. The previous method was developed by authors two years back. After a diagnosis of pressure temperature drift caused by the main IMU, the additional barometric sensor was introduced. Based on readings from this reference component, three main modifications were developed to the algorithm’s structure. In addition, three experimental sequences are presented to compare the previous approach with new ones. Results showed that new methods achieve better performance and are free from pressure drift caused by sensor’s heating. Decreasing frequency of altitude measurements in Kalman filter resulted in more robust estimates for pressure changes not related to the vertical movement in indoor and outdoor flights. With properly working estimation algorithm, there is a possibility to develop a controller to maintain desired altitude or vertical velocity.
714 - 719
WoS (15)