0

Full Content is available to subscribers

Subscribe/Learn More  >

Hybrid Low Pass and De-Trending Filter for Robust Position Estimation of Quadcopters

[+] Author Affiliations
Shatadal Mishra, Wenlong Zhang

Arizona State University, Mesa, AZ

Paper No. DSCC2016-9921, pp. V002T29A004; 10 pages
doi:10.1115/DSCC2016-9921
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

In this paper, a hybrid low-pass and de-trending (HLPD) filtering technique is proposed to achieve robust position estimates using an optical flow based sensor which calculates velocity information at a rate of 400 Hz. In order to filter out the high-frequency oscillation in the velocity information, a standard low-pass filter is implemented. The low-pass filter successfully eliminates sudden jumps and missing data-points, which prevents unprecedented maneuvers and mid-air crashes. The integrated position estimate has the accumulated drift which occurs due to electrical signal and temperature fluctuations together with other environmental factors which affect the data acquisition from the optical flow sensor. A recursive linear least squares fit is performed for the drift model and de-trending is applied to the integrated position signal. The performance of the proposed estimator is validated by comparing with model-identification based weighted average (MI-WA) position estimator, which is commonly used in quadcopters for position estimation. Simulation and experimental flight tests are conducted and the results show that the flight performance of HLPD filter is better than the extensively used MI-WA position filter in hover and square pattern flight tests.

Copyright © 2016 by ASME
Topics: Filters

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In