Latest Issue
Study on Mechanical Structure Design for Plug-and-play Wheel Mobile Robot
Published: December 31,2023PI Controller for Velocity Controller Design based on Lumped Parameter Estimation: Simulation and Experiment
Published: December 31,2023Attitude Estimation by using Unscented Kalman Filter with Constraint State
Published: December 31,2023Characterization Study of Cambodian Natural Rubber and Clay Composites for Shock Absorption Floor Mat
Published: December 31,2023Selection of Observed Gridded Rainfall Data for different Analysis Purposes in Cambodia
Published: December 31,2023An Empirical Investigation of Gold Price Forecasting Using ARIMA Compare with LSTM Model
Published: December 31,2023Prediction of California Bearing Ratio with Soil Properties of Road Subgrade Materials in Cambodia
Published: December 31,2023Non-intrusive Load Monitoring Classification Based on Multi-Scale Electrical Appliance Load Signature
Published: December 31,2023Development of Control Framework Based on ROS Platform for a 3-Axis Gimbal
Published: December 31,2023Attitude Estimation by using Unscented Kalman Filter with Constraint State
-
1. Department of Industrial and Mechanical Engineering, Dynamics and Control Laboratory, Institute of Technology of Cambodia, Russian Federation Blvd., P.O. Box 86, Phnom Penh, Cambodia.
Received: September 15,2022 / Revised: Accepted: December 30,2022 / Published: December 31,2023
Quadcopters or quadrotors have always desired to fly smoothly and stay on their path in order to enhance their application. This better performance can be achieved depending on the accuracy of the data. However, relying purely on sensor data cannot be accepted due to the inaccuracy of measurement, thus state estimation to filter noise out is important. This paper is focused on performance evaluation on quadrotors attitude estimation using Unscented Kalman filter (UKF) by comparison with quadrotors attitude computed from the mathematical model. The UKF is an algorithm dealing with noise filters that can be used for state estimation such as attitude and bias of sensors. UKF is divided into two steps which are Measurement Update, and Time Update. However, the algorithm is initialized by determining initially on the mean and the covariance. Then, the measurement update algorithm uses the accelerometer sensor data and magnetometer sensor data pose the next time update. Gaussian with covariance (Q and R) of the UKF algorithm are determined in this paper. Quaternion is used to describe state equations which are based on the kinematic model. The input of the state equation is taken from sensors of the Pixhawk 4 controller which are gyrometers (data of angular velocity). In addition, the output equation is based on accelerometer modeling and magnetometer modeling including data from accelerometer sensors and magnetometer in the Pixhawk 4 controller. MATLAB & Simulink have been used for this experiment and Pixhawk Controller hardware is used as the flight controller. The result of attitude estimation expressed about component of quaternions and bias of sensor from Pixhawk 4. The graph is shown the performance of attitude quadrotors and bias of sensor.