Peng, Rui (The University of Hong Kong), Lu, Peng (The University of Hong Kong)

Fast Adaptive Complementary Filter for Quadrotor Attitude Estimation During Aggressive Maneuvers

Scheduled for presentation during the Regular Session "Sensor Fusion I" (WeA4), Wednesday, June 16, 2021, 11:10−11:30, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

It is challenging to provide accurate attitude estimation for a quadrotor during aggressive maneuvers, which involve violent and fast motion with uncertainty on sensors. In this unique case, we propose a fast adaptive Complementary Filter, which fuses raw measurements from a MARG sensor system and could cope with the large range of quadrotor manuvers. The performance of the filter is validated on an actual quadrotor platform, by comparing with the Extended Kalman Filter (EKF) and the Error State Kalman Filter (ESKF) simultaneously. The experimental results show that the proposed CF has better estimate accuracy, low time-latency and stable orientation outputs in a quadrotor’s attitude estimate.