Complimentary Filter-Based Technique for Identification of Unmanned Aerial System Parameters
Dhrutidhara Belem, Sobhit Panda, Subhranshu Sekhar Puhan, Sonali Goer, Renu Sharma · 2024
This manuscript presents a complimentary based technique for stability and control of multi rotor unmanned aerial vehicle (UAV). The output of the inertial sensors used in UAV environments, like accelerometer and gyroscope is noisy. The evaluated sensor data are used to get the orientation and altitude of the UAV. In this manuscript, we have used the Kalman Filter algorithm enabled with complementary filter-based techniques to get precise values and sensor fusion analysis from the Inertial Measurement Unit. Robust PID algorithms are used to stabilize the UAV and for maneuver. In this manuscript, we have assumed that the rotational speed of the four motors used in this UAV can be increased or decreased independently to correct the orientation or position. The UAV enabled with Kalman filter is simulated in the ARDUINO environment, and the results are illustrated in the result section.