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

自动化科学与电气工程学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
ISBN（电子版）	9781538611715
DOI	https://doi.org/10.1109/GNCC42960.2018.9019141
出版状态	已出版 - 8月 2018
活动	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, 中国期限: 10 8月 2018 → 12 8月 2018

出版系列

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

会议

会议	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
国家/地区	中国
市	Xiamen
时期	10/08/18 → 12/08/18

访问文件

10.1109/GNCC42960.2018.9019141

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, Y., Wu, J., Yang, C., & Zhang, X. (2018). Complementary filter based on quaternion for outdoor navigation of UAV. 在 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 文章 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. 在 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, 中国, 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 等.
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).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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.

UR - https://www.scopus.com/pages/publications/85082473384

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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