This paper presents a new approach to estimate the orientation of a quadrotor using single low-cost inertial measurement unit (IMU) sensor. The proposed hybrid solution uses two extended Kalman filters (EKF) along with a direction cosine matrix (DCM) algorithm. An EKF utilizes the dynamics of the quadrotor to filter the noise on the body-frame (B-frame) angular rates measured by the three-axis gyroscope sensor. Then, a DCM algorithm uses the filtered gyro signal along with the reading from a three-axis accelerometer and a three-axis magnetometer sensor to estimate the Euler angles. Finally, an additional EKF is presented to enhance the final estimates of the Euler angles. The performance of the proposed hybrid approach is tested and compared with other commonly used methods. Results are presented at the end of the paper to verify the performance of the proposed method. The results show an improvement in the estimated quadrotor's state. Monte Carlo tests are performed to ensure sustained high accuracy estimation.
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Research-Article
Hybrid Low-Cost Approach for Quadrotor Attitude Estimation
Bara J. Emran,
Bara J. Emran
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
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Muhannad Al-Omari,
Muhannad Al-Omari
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
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Mamoun F. Abdel-Hafez,
Mamoun F. Abdel-Hafez
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
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Mohammad A. Jaradat
Mohammad A. Jaradat
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
Department of Mechanical Engineering,
Jordan University of Science and Technology
,Irbid 22110
, Jordan
Search for other works by this author on:
Bara J. Emran
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
Muhannad Al-Omari
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
Mamoun F. Abdel-Hafez
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
Mohammad A. Jaradat
Mechanical Engineering Department,
American University of Sharjah
,Sharjah 26666
, UAE
Department of Mechanical Engineering,
Jordan University of Science and Technology
,Irbid 22110
, Jordan
Manuscript received December 31, 2013; final manuscript received September 7, 2014; published online February 11, 2015. Assoc. Editor: Dr. Corina Sandu.
J. Comput. Nonlinear Dynam. May 2015, 10(3): 031010 (9 pages)
Published Online: May 1, 2015
Article history
Received:
December 31, 2013
Revision Received:
September 7, 2014
Online:
February 11, 2015
Citation
Emran, B. J., Al-Omari, M., Abdel-Hafez, M. F., and Jaradat, M. A. (May 1, 2015). "Hybrid Low-Cost Approach for Quadrotor Attitude Estimation." ASME. J. Comput. Nonlinear Dynam. May 2015; 10(3): 031010. https://doi.org/10.1115/1.4028524
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