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유동현(Dong-Hyeon Yu),임대영(Dae Young Lim),설남오(Nam O Sel),박종호(Jong Ho Park),정길도(Kil to Chong) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5
We presented a quad-rotor controlling algorithm design by using sensor fusion in this paper. The controller design technique was performed by a PD controller with a Kalman filter and compensation algorithm for increasing the stability and reliability of the quad-rotor attitude. In this paper, we propose an attitude estimation algorithm for quad-rotor based sensor fusion by using the Kalman filter. For this reason, firstly, we studied the platform configuration and principle of the quad-rotor. Secondly, the bias errors of a gyro sensor, acceleration and geomagnetic sensor are compensated. The measured values of each sensor are then fused via a Kalman filter. Finally, the performance of the proposed algorithm is evaluated through experimental data of attitude estimation. As a result, the proposed sensor fusion algorithm showed superior attitude estimation performance, and also proved that robust attitude estimation is possible even in disturbance.