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1 Poznan University of Technology Academic Journals. Electrical Engineering

1 2015

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

Golijanek-Jędrzejczyk A., Rafiński L., Szczęsny S.

Poznan University of Technology Academic Journals. Electrical Engineering

2015

No. 84

55--61

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.