| dc.description.abstract | in the past few years, researchers have shown great interest in quadrotor aircraft
as a platform for uav research due to simplicity of construction as well
as maintenance, ability to hover in small indoor locations or hazardous environments,
vertical take-off and landing capability, etc. attitude stabilization
of a quadrotor requires accurate information about current orientation of the
vehicle. with the emergence of micro-electro-mechanical system (mems)
sensors, a relatively cost-effective way for attitude estimation consists of using
gyroscope, accelerometer and magnetometer devices strapped down on
vehicle’s center of mass. a number of previous works deal with fusing angular
velocity with measurements of accelerometer and magnetometer to construct
an estimation of aircraft orientation. | en_us |
