Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precise Positioning Algorithm Development for Quadrotor Flying Robots Using Dual Extended Kalman Filter

듀얼 확장 칼만 필터를 이용한 쿼드로터 비행로봇 위치 정밀도 향상 알고리즘 개발

  • Seung, Ji-Hoon (Advanced Electronics and Information Research Center, Jeonbuk National University) ;
  • Lee, Deok-Jin (Kunsan National University) ;
  • Ryu, Ji-Hyoung (Advanced Electronics and Information Research Center, Jeonbuk National University) ;
  • Chong, Kil To (Advanced Electronics and Information Research Center, Jeonbuk National University)
  • 승지훈 (전북대학교 전자공학부) ;
  • 이덕진 (군산대학교 기계자동차공학부) ;
  • 류지형 (전북대학교 전자공학부) ;
  • 정길도 (전북대학교 전자공학부)
  • Received : 2012.11.24
  • Accepted : 2012.12.26
  • Published : 2013.02.01
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Abstract

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

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References

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