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Mass estimation of a quadcopter using IMU data
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-3498-3204
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-1971-4295
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-6523-8499
2017 (English)In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1260-1266Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an approach to estimate the mass of a quadcopter using only inertial measurements and pilot commands is presented. For this purpose, a lateral dynamic model describing the relation between the roll rate and the lateral acceleration is formulated. Due to the quadcopter’s inherent instability, a controller is used to stabilize the system and the data is collected in closed loop. Under the effect of feedback and disturbances, the inertial measurements used as input and output are correlated with the disturbances, which complicates the parameter estimation. The parameters of the model are estimated using several methods. The simulation and experimental results show that the instrumental-variable method has the best potential to estimate the mass of the quadcopter in this setup.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 1260-1266
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-139795DOI: 10.1109/ICUAS.2017.7991417ISI: 000425255200155ISBN: 9781509044955 (electronic)ISBN: 9781509044962 (print)OAI: oai:DiVA.org:liu-139795DiVA, id: diva2:1133681
Conference
2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA
Projects
MarineUAS
Funder
EU, Horizon 2020, 642153
Note

Funding agencies: European Unions Horizon research and innovation programme under the Marie Sklodowska-Curie grant [642153]

Available from: 2017-08-16 Created: 2017-08-16 Last updated: 2018-03-21Bibliographically approved

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Mass estimation of a quadcopter using IMU data(574 kB)411 downloads
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Linder, JonasHendeby, GustafEnqvist, Martin

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Output format
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