JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Geomagnetic Sensor Compensation and Sensor Fusion for Quadrotor Heading Direction Control
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Geomagnetic Sensor Compensation and Sensor Fusion for Quadrotor Heading Direction Control
Lee, You Jin; Ryoo, Jung Rae;
  PDF(new window)
 Abstract
Geomagnetic sensors are widely utilized for sensing heading direction of quadrotors. However, measurement from a geomagnetic sensor is easily corrupted by environmental magnetic field interference and roll/pitch directional motion. In this paper, a measurement method of a quadrotor heading direction is proposed for application to yaw attitude control. In order to eliminate roll/pitch directional motion effect, the geomagnetic sensor data is compensated using the roll/pitch angles measured for stabilization control. In addition, yaw-directional angular velocity data from a gyroscope sensor is fused with the geomagnetic sensor data using a complementary filter which is a simple and intuitive sensor fusion method. The proposed method is applied to experiments, and the results are presented to prove validity and effectiveness of the proposed method.
 Keywords
quadrotor;heading direction control;complementary filter;geomagnetic sensor;gyroscope sensor;
 Language
Korean
 Cited by
 References
1.
H. Lim, J. Park, D. Lee, and H.J. Kim, "Build your own quadrotor: open-source projects on unmanned aerial vehicles," IEEE Robotics and Automation Magazine, vol. 19, no. 3, pp. 33-45, Sep. 2012. crossref(new window)

2.
I. Sa and P. Corke, "System identification, estimation and control for a cost effective open-source quadcopter," Proceedings of the 2012 IEEE International Conference on Robotics and Automation, Minnesota, USA, pp. 2202-2209, May 2012.

3.
H. Bouadi, M. Bouchoucha, and M. Tadjine, "Sliding mode control based on backstepping approach for an UAV type-quadrotor," International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, vol.1, no. 2, pp. 39-44, Feb. 2007.

4.
J.-Y. Heo and Y.-D. Lim, "The implementation of quadcopter attitude control system using Fuzzy controller," Journal of Korean Institute of Information Technology, vol. 11, no. 5, pp. 131-136, May 2013.

5.
D.-H. Yu, D. Y. Lim, N. O Sel, J. H. Park, and K. t. Chong, "Study of sensor fusion for attitude control of a quad-rotor," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 5, pp. 453-458, Jan. 2015. crossref(new window)

6.
D.-H. Yu, J. H. Park, J. H. Ryo, and K. T. Chong, "Attitude control of quad-rotor by improving the reliability of multi-sensor system," Transactions of the Korean Society of Mechanical Engineering-A, vol. 39, no. 5, pp. 517-526, May 2015. crossref(new window)

7.
S. Shen, Y. Mulgaonkar, "Multi-Sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV," Proceedings of the 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, pp. 4974-4981, May 2014.

8.
Y. J. Choi, J. R. Ryoo, and T.-Y. Doh, "Steering system in a self-balancing electric scooter," Journal of Institute of Control, Robotics and Systems, vol. 20, no. 9, pp. 942-949, Sep. 2014.

9.
S. Y. Cho, "Biaxial accelerometer-based magnetic compass module calibration and analysis of azimuth computational errors caused by accelerometer errors," Journal of Institute of Control, Robotics and Systems, vol. 20, no. 2, pp. 149-156, Feb. 2014. crossref(new window)

10.
J. Lee and H. Kim, "A study of high precision position estimator using GPS/INS sensor fusion," Journal of The Institute of Electronics Engineers of Korea, vol. 49, no. 11, pp. 159-166, Nov. 2012.

11.
J. Kim, J. Lee, J. Byun, and S. Kim, "Localization performance improvement for mobile robot using multiple sensors in slope road," Journal of The Institute of Electronics Engineers of Korea-SC, vol. 47, no. 1, pp. 67-75, Jan. 2010.

12.
K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill Book Company, July 1987.

13.
S.-Y. Nam, S.-H. Hong, and S.-J. Kim, "A study on design & implementation of an attitude control system of a log of legs robots," Journal of The Institute of Electronics Engineers of Korea-IE, vol. 45, no. 4, pp. 11-18, Dec. 2008.