Complementary filter based on quaternion for outdoor navigation of UAV

Yuncan Zhang; Jiang Wu; Chaojie Yang; Xianbing Zhang

doi:10.1109/GNCC42960.2018.9019141

Complementary filter based on quaternion for outdoor navigation of UAV

Yuncan Zhang
, Jiang Wu
, Chaojie Yang
, Xianbing Zhang

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The complementary filter is widely used in the low-cost state estimation of unmanned aerial vehicles because of its concise principle and small amount of calculation. With the restriction that the MEMS sensor output signals which have bias variations and high levels of noise, an attitude estimation system based on complementary filter is designed. The acceleration obtained by accelerometer and the magnetic field obtained by magnetometer were fused to revise the angular velocity output by a gyroscope. Simulation demonstrates that the system can estimate the attitude and has high accuracy and low-cost which has practical values for aircraft control systems.

Original language	English
Title of host publication	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538611715
DOIs	https://doi.org/10.1109/GNCC42960.2018.9019141
State	Published - Aug 2018
Event	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, China Duration: 10 Aug 2018 → 12 Aug 2018

Publication series

Name	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Conference

Conference	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Country/Territory	China
City	Xiamen
Period	10/08/18 → 12/08/18

Access to Document

10.1109/GNCC42960.2018.9019141

Cite this

Zhang, Y., Wu, J., Yang, C., & Zhang, X. (2018). Complementary filter based on quaternion for outdoor navigation of UAV. In 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 Article 9019141 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GNCC42960.2018.9019141

@inproceedings{6ac49192ca2949289e29d8799844a964,

title = "Complementary filter based on quaternion for outdoor navigation of UAV",

abstract = "The complementary filter is widely used in the low-cost state estimation of unmanned aerial vehicles because of its concise principle and small amount of calculation. With the restriction that the MEMS sensor output signals which have bias variations and high levels of noise, an attitude estimation system based on complementary filter is designed. The acceleration obtained by accelerometer and the magnetic field obtained by magnetometer were fused to revise the angular velocity output by a gyroscope. Simulation demonstrates that the system can estimate the attitude and has high accuracy and low-cost which has practical values for aircraft control systems.",

author = "Yuncan Zhang and Jiang Wu and Chaojie Yang and Xianbing Zhang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 ; Conference date: 10-08-2018 Through 12-08-2018",

year = "2018",

month = aug,

doi = "10.1109/GNCC42960.2018.9019141",

language = "英语",

series = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

address = "美国",

}

Zhang, Y, Wu, J, Yang, C & Zhang, X 2018, Complementary filter based on quaternion for outdoor navigation of UAV. in 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018., 9019141, 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Xiamen, China, 10/08/18. https://doi.org/10.1109/GNCC42960.2018.9019141

Complementary filter based on quaternion for outdoor navigation of UAV. / Zhang, Yuncan; Wu, Jiang; Yang, Chaojie et al.
2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 9019141 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Complementary filter based on quaternion for outdoor navigation of UAV

AU - Zhang, Yuncan

AU - Wu, Jiang

AU - Yang, Chaojie

AU - Zhang, Xianbing

PY - 2018/8

Y1 - 2018/8

N2 - The complementary filter is widely used in the low-cost state estimation of unmanned aerial vehicles because of its concise principle and small amount of calculation. With the restriction that the MEMS sensor output signals which have bias variations and high levels of noise, an attitude estimation system based on complementary filter is designed. The acceleration obtained by accelerometer and the magnetic field obtained by magnetometer were fused to revise the angular velocity output by a gyroscope. Simulation demonstrates that the system can estimate the attitude and has high accuracy and low-cost which has practical values for aircraft control systems.

AB - The complementary filter is widely used in the low-cost state estimation of unmanned aerial vehicles because of its concise principle and small amount of calculation. With the restriction that the MEMS sensor output signals which have bias variations and high levels of noise, an attitude estimation system based on complementary filter is designed. The acceleration obtained by accelerometer and the magnetic field obtained by magnetometer were fused to revise the angular velocity output by a gyroscope. Simulation demonstrates that the system can estimate the attitude and has high accuracy and low-cost which has practical values for aircraft control systems.

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U2 - 10.1109/GNCC42960.2018.9019141

DO - 10.1109/GNCC42960.2018.9019141

M3 - 会议稿件

AN - SCOPUS:85082473384

T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Y2 - 10 August 2018 through 12 August 2018

ER -

Complementary filter based on quaternion for outdoor navigation of UAV

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