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Dead reckoning and Kalman filter design for trajectory tracking of a quadrotor UAV

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4 Author(s)
Qing-Li Zhou ; Mech. & Ind. Eng. Dept., Concordia Univ., Montreal, QC, Canada ; Youmin Zhang ; Yao-Hong Qu ; Rabbath, C.

The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.

Published in:

Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on

Date of Conference:

15-17 July 2010