TY - GEN
T1 - Attitude Estimation of a Quadcopter with one fully damaged rotor using on-board MARG Sensors
AU - Solanki, P.
AU - de Visser, C.C.
PY - 2022
Y1 - 2022
N2 - Quadcopters are becoming increasingly popular across diverse sectors. Since rotor damages occur frequently, it is essential to improve the attitude estimation and thus ultimately the ability to control a damaged quadcopter. This research is based on a state-of-the-art method that makes it possible to control the quadcopter despite the total failure of a single rotor, where the attitude and position of the quadcopter are provided by an external system. In the present research, a novel attitude estimator called Adaptive Fuzzy Complementary Kalman Filter (AFCKF) has been developed and validated that works independently of any external systems. It is able to estimate the attitude of a quadcopter with one fully damaged rotor while only relying on the on-board MARG (Magnetometer, Accelerometer, Rate Gyroscope) sensors. The AFCKF provides significantly better attitude estimates for flights with a damaged rotor than mainstream filters, estimating the roll and pitch of the quadcopter with an RMS error of less than 1.7 degrees and a variance of less than 2 degrees. The proposed filter also provides accurate yaw estimates despite the fast spinning motion of the damaged quadcopter, and thus outperforms existing methods at the cost of only a small increase in computation.
AB - Quadcopters are becoming increasingly popular across diverse sectors. Since rotor damages occur frequently, it is essential to improve the attitude estimation and thus ultimately the ability to control a damaged quadcopter. This research is based on a state-of-the-art method that makes it possible to control the quadcopter despite the total failure of a single rotor, where the attitude and position of the quadcopter are provided by an external system. In the present research, a novel attitude estimator called Adaptive Fuzzy Complementary Kalman Filter (AFCKF) has been developed and validated that works independently of any external systems. It is able to estimate the attitude of a quadcopter with one fully damaged rotor while only relying on the on-board MARG (Magnetometer, Accelerometer, Rate Gyroscope) sensors. The AFCKF provides significantly better attitude estimates for flights with a damaged rotor than mainstream filters, estimating the roll and pitch of the quadcopter with an RMS error of less than 1.7 degrees and a variance of less than 2 degrees. The proposed filter also provides accurate yaw estimates despite the fast spinning motion of the damaged quadcopter, and thus outperforms existing methods at the cost of only a small increase in computation.
UR - http://www.scopus.com/inward/record.url?scp=85123358195&partnerID=8YFLogxK
U2 - 10.2514/6.2022-0857
DO - 10.2514/6.2022-0857
M3 - Conference contribution
T3 - AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
BT - AIAA SCITECH 2022 Forum
T2 - AIAA SCITECH 2022 Forum
Y2 - 3 January 2022 through 7 January 2022
ER -