Unscented Kalman filter application for state estimation of a Qball-X4 quadrotor
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Author |
Vuong Thuy Linh, Le Ngoc Giang and Dang Tien Trung
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e-ISSN |
1819-6608 |
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On Pages
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612-618
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Volume No. |
19
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Issue No. |
10
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Issue Date |
August 10, 2024
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DOI |
https://doi.org/10.59018/052482
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Keywords |
kalman filter, measurement noise, position estimation, Qball-X4 quadrotor.
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Abstract
In the process of controlling the quadrotor, accurate state estimation plays a crucial role. For positioning purposes,
the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are employed to determine the position of moving
subjects. The Qball-X4 quadrotor is a highly nonlinear object, and when combined with Gauss interference, it can
compromise the accuracy of the EKF. To address these challenges, this study focuses on assessing the suitability of the UKF
nonlinear filtering method for estimating the state of the Qball-X4 quadrotor. This estimation is based on measurements from
the gyroscope and Global Positioning System (GPS). To simulate real-life conditions, measurement noise has been
deliberately introduced into the sensors. Rigorous testing under various conditions has emphasized the superior performance
of the UKF filter in estimating the state of the quadrotor. This paper presents a valuable method to enhance the accuracy and
reliability of the navigation system for the Qball-X4 quadrotor.
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