MOTION CONTROL SYSTEM FOR A QUADROTOR BASED ON CASCADE KALMAN FILTERS
F.P. Gerasimov1, Yu. N. Zolotukhin1, K.Yu. Kotov1,2, A.S. Maltsev1, A.P. Yan1
1Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
2Boreskov Institute of Catalysis, Siberian Branch, Russian Academy of Sciences, Koltsovo, Russia
Keywords: automatic flight control system, Kalman cascade filters
Abstract
To solve the problem of estimating the orientation and position of an aircraft, a system based on series-connected Kalman filters is proposed: a linear Kalman filter in the attitude stabilization loop and an extended Kalman filter in the subsystem of maintaining the target location. The effectiveness of the developed control system is confirmed by experimental results of the quadrocopter indoor flight control.
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