Mass estimation of a quadcopter using IMU data
Mass estimation of a quadcopter using IMU data
- New search for: Ho, Du
- New search for: Linder, Jonas
- New search for: Hendeby, Gustaf
- New search for: Enqvist, Martin
- New search for: Ho, Du
- New search for: Linder, Jonas
- New search for: Hendeby, Gustaf
- New search for: Enqvist, Martin
In this paper, an approach to estimate the mass of a quadcopter using only inertial measurements and pilot commands is presented. For this purpose, a lateral dynamic model describing the relation between the roll rate and the lateral acceleration is formulated. Due to the quadcopter's inherent instability, a controller is used to stabilize the system and the data is collected in closed loop. Under the effect of feedback and disturbances, the inertial measurements used as input and output are correlated with the disturbances, which complicates the parameter estimation. The parameters of the model are estimated using several methods. The simulation and experimental results show that the instrumental-variable method has the best potential to estimate the mass of the quadcopter in this setup.
Document information
Mass estimation of a quadcopter using IMU data
2017-06-01
592459 byte
Conference paper
Electronic Resource
English
Similar titles
QUADCOPTER ARTIFICIAL INTELLIGENCE CONTROLLER AND QUADCOPTER SIMULATOR
| European Patent Office | 2020
Multistage Mass Optimization of a Quadcopter Frame
| Springer Verlag | 2020