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A Position Estimation of Quadcopter Using EKF-SLAM
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  • Journal title : Journal of IKEEE
  • Volume 19, Issue 4,  2015, pp.557-565
  • Publisher : Institude of Korean Electrical and Electronics Engineers
  • DOI : 10.7471/ikeee.2015.19.4.557
 Title & Authors
A Position Estimation of Quadcopter Using EKF-SLAM
Cho, Youngwan; Hwang, Jaeyoung; Lee, Heejin;
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 Abstract
In this paper, a method for estimating the location of a quadcopter is proposed by applying an EKF-SLAM algorithm to its flight control, to autonomously control the flight of an unmanned quadcopter. The usefulness of this method is validated through simulations. For autonomously flying the unmanned quadcopter, an algorithm is required to estimate its accurate location, and various approaches exist for this. Among them, SLAM, which has seldom been applied to the quadcopter flight control, was applied in this study to simulate a system that estimates flight trajectories of the quadcopter.
 Keywords
Extended Kalman Filter;EKF-SLAM;Quadcopter;Position estimation;Flight control;
 Language
Korean
 Cited by
 References
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