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2013 year, number 6

Using the Kalman Filter in the Quadrotor Vehicle Trajectory Tracking System

S. A. Belokon’, Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, V. Ya. Pivkin, M. A. Sobolev, M. N. Filippov, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, pr. Akademika Koptyuga 1, Novosibirsk, 630090 Russia
Keywords: AR.Drone quadrotor vehicle, trajectory tracking system, extended Kalman filter


A problem of control of quadrotor vehicle motion over a trajectory defined implicitly in the coordinate space is considered. The previously proposed system of automated control of quadrotor vehicle flight is supplemented with relations based on an extended Kalman filter for estimating the plant state vector and the systematic error of measurements. The workability of the control system in the presence of the measurement noise is verified by results of modeling and experiments with the AR.Drone quadrotor vehicle.