Using Alpha-beta filtration for robustness improvement of a quadrocopter positioning system

• Autorzy: Golijanek-Jędrzejczyk A. , Rafiński L. , Szczęsny S.
• Konferencja: Computer Applications in Electrical Engineering (20-21.04.2015 ; Poznań, Polska)
• Języki publikacji: EN

Abstrakty

EN

Quadrocopter is an unmanned aerial vehicle (UAV) platform. The position of the robot is determined based on readings from an accelerometer and a gyroscope, but the measurement signals contain broadband noise. This article describes a solution for filtering out the noise based on an Alpha - beta filter. It also presents the methodology of designing and implementing such a filter for noise cancellation in measurement signals from accelerometer and gyroscope. The computational complexity of the Alpha - beta filter is similar to a second order low pass filter, but there are no noticeable time delays and filtration gives similar results to that of a Kalman filter. The described filter was designed and implemented in a real vehicle, tested and validated.

Słowa kluczowe

EN

signal processing; discrete filter; robotics

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Poznan University of Technology Academic Journals. Electrical Engineering
• Rocznik: 2015
• Tom: No. 84
• Strony: 55--61
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Golijanek-Jędrzejczyk A.

• Gdansk University of Technology

autor

Rafiński L.

• Gdansk University of Technology

autor

Szczęsny S.

• Gdansk University of Technology

Bibliografia

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