Dead Reckoning and Kalman Filter Design for Trajectory Tracking of a Quadrotor UAV

摘要：

The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.

作者: Qing-Li Zhou Youmin Zhang Yao-Hong Qu Camille-Alain Rabbath

作者单位: Mechanical and Industrial Engineering Department, Concordia University, Montreal, Quebec, H3G 2W1, C Diagnosis, Flight Control and Simulation Lab at the Dept. of Mechanical and Industrial Engineering, School of Automation, Northwestern Polytechnical University, Xi’an, 710072, P. R. China Defence Research & Development Canada, Valcartier, Quebec, G3J 1X5 Canada

会议类型: 国际会议

会议名称: 2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

会议地点: 青岛

会议语种:英文

页码: 119-124

在线出版日期: 2010-07-15（万方平台首次上网日期，不代表论文的发表时间）