Extended Kalman filter based autonomous flying system for quadcopters

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dc.contributor.authorSomasiri, JAAS
dc.contributor.authorChandima, DP
dc.contributor.authorJayasekara, AGBP
dc.contributor.editorSamarasinghe, R
dc.contributor.editorAbeygunawardana, S
dc.date.accessioned2022-03-31T05:17:58Z
dc.date.available2022-03-31T05:17:58Z
dc.date.issued2018-09
dc.description.abstractThis paper presents mathematical modeling, implementation and experimentation results of Extended Kalman filter (EKF) implemented on existing flight control algorithm which is used to control multi-rotor unmanned aerial vehicles such as quadcopters, hexacopters, and octocopters. Purpose of implementing the EKF is to improve flight performance and reliability of the vehicles during its autonomous navigation which may include automatic take-off landing, waypoint navigation, and to improve the robustness for wind disturbances at the same time. Initially vision positioning data were used as a ground truth to validate the EKF outputs. Then the filter is tested in real-time using a quadcopter and experimental results were presented and compared with raw sensor data to evaluate system performance.en_US
dc.identifier.citationSomasiri, J.A.A.S., Chandima, D.P., & Jayasekara, A.G.B.P. (2018). Extended Kalman filter based autonomous flying system for quadcopters. In R. Samarasinghe & S. Abeygunawardana (Eds.), Proceedings of 2nd International Conference on Electrical Engineering 2018 (pp. 130-137). Institute of Electrical and Electronics Engineers, Inc. https://ieeexplore.ieee.org/xpl/conhome/8528200/proceedingen_US
dc.identifier.conference2nd International Conference on Electrical Engineering 2018en_US
dc.identifier.departmentDepartment of Electrical Engineeringen_US
dc.identifier.emailengamilasandaruwan@gmail.comen_US
dc.identifier.emailchandimadp@uom.lken_US
dc.identifier.emailbuddhikaj@uom.lken_US
dc.identifier.facultyEngineeringen_US
dc.identifier.pgnospp. 130-137en_US
dc.identifier.placeColomboen_US
dc.identifier.proceedingProceedings of 2nd International Conference on Electrical Engineering 2018en_US
dc.identifier.urihttp://dl.lib.uom.lk/handle/123/17527
dc.identifier.year2018en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers, Inc.en_US
dc.relation.urihttps://ieeexplore.ieee.org/xpl/conhome/8528200/proceedingen_US
dc.subjectMulti-rotorsen_US
dc.subjectQuadcoptersen_US
dc.subjectKalman filtersen_US
dc.subjectState estimationsen_US
dc.subjectAttitude controlen_US
dc.subjectPosition controlen_US
dc.titleExtended Kalman filter based autonomous flying system for quadcoptersen_US
dc.typeConference-Full-texten_US

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