An Improvement Strategy on Direction Cosine Matrix based Attitude Estimation for Multi-Rotor Autopilot

Nazia Ahsan Dilshad; Mohammed Kawser Jahan

An Improvement Strategy on Direction Cosine Matrix based Attitude Estimation for Multi-Rotor Autopilot

Nazia Ahsan Dilshad * §

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Mohammed Kawser Jahan

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§ American International University - Bangladesh

An Improvement Strategy on Direction Cosine Matrix based Attitude Estimation for Multi-Rotor Autopilot

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Abstract

In present days, autonomous multi-rotor copters are increasingly becoming popular due to its advantages in terms of multi-purpose functionalities, robustness, high dynamic response and more significantly inexpensive costs of development and usage. However, real-time attitude estimation is a key component which needs to have further development for better control and precise navigation to drive these unmanned aerial vehicles reliably. This paper presented an approach to improve the method of attitude estimation by Direction Cosine Matrix for multi-rotor copters that is based on low cost MEMS inertial sensors, a magnetometer and a commercial GPS receiver. In connection with the Direction Cosine Matrix attitude estimation scheme, a novel algorithm design for dealing with limitations on attitude sensing accuracy and reducing latency in real-time is proposed. The design is insensitive to noise or loss of GPS signals. The viability of the proposed design is demonstrated by an experimental scenario with real-time attitude information under different observations. From the experiment, some issues have been noticed and their reasons have been discussed.

References

5 Cites in Article

Reference Format

D Choukroun,H Weiss,I Bar-Itzhack,Y Oshman (2010). vector observations using a matrix Kalman filter.
W Premerlani,P Bizard (2009). Direction Cosine Matrix IMU: Theory.
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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Nazia Dilshad, Mohammed Jahan. 2014. "An Improvement Strategy on Direction Cosine Matrix based Attitude Estimation for Multi-Rotor Autopilot". Global Journal of Research in Engineering, Global Journal of Research in Engineering - F: Electrical & Electronic GJRE-F Volume 14 (GJRE Volume 14 Issue F8).

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GJRE Volume 14 Issue F8

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

attitude estimation autopilot DCM euler angles hover IMU MEMS multi rotor copter pitch RC aircraft roll unmanned aerial vehicle VTOL yaw

Classification

GJRE-F Classification FOR Code: 090699

Submission ReceivedDecember 14, 2013
Peer Review Double Blind
Handling Editor
Accepted January 4, 2014
Published January 15, 2014

Version of record

v1.2

Issue date

October 9, 2014

Language

English

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Article Matrices

Total Score: 102

Country: Bangladesh

Subject: Global Journal of Research in Engineering

Authors: Nazia Ahsan Dilshad, Mohammed Kawser Jahan (PhD/Dr. count: 0)

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Publish Date: 2014 01, Wed

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