System identification, estimation and control for a cost effective open-source quadcopter
- 1 May 2012
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2012 IEEE International Conference on Robotics and Automation
- p. 2202-2209
- https://doi.org/10.1109/icra.2012.6224896
Abstract
This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter - the MikroKopter. The dynamics of its built-in sensors, roll and pitch attitude controller, and system latencies are determined and used to design a computationally inexpensive multi-rate velocity estimator that fuses data from the built-in inertial sensors and a low-rate onboard laser range finder. Control is performed using a nested loop structure that is also computationally inexpensive and incorporates different sensors. Experimental results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system.Keywords
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