Multirotor controls, trim, and autonomous flight dynamics of plus-and cross-quadcopters
This paper examines a quadcopter operating in the plus and cross configurations. The plus
configuration generates a yaw moment when a pitch/roll control input is introduced; but, for …
configuration generates a yaw moment when a pitch/roll control input is introduced; but, for …
Factored extended Kalman filter for monocular vision-aided inertial navigation
D Magree, EN Johnson - Journal of Aerospace Information Systems, 2016 - arc.aiaa.org
This paper describes a novel visual simultaneous localization and mapping system based
on the UD factored extended Kalman filter. A novel method for marginalizing and initializing …
on the UD factored extended Kalman filter. A novel method for marginalizing and initializing …
[PDF][PDF] Multi-Rotor Controls, Trim, and Autonomous Flight Dynamic Characteristics of Quadcopters in Plus-and Cross-Configurations
R Niemieca, F Gandhib - researchgate.net
Y φ= Lateral acceleration from roll attitude-m rad s2 φ, θ, ψ= Roll, pitch, and yaw attitude-rad
Ψi= Azimuthal location of rotor i-rad τi= Rotor i torque-N m Ω0= Collective RPM Control-rad s …
Ψi= Azimuthal location of rotor i-rad τi= Rotor i torque-N m Ω0= Collective RPM Control-rad s …