Print Email Facebook Twitter Attitude Estimation of a Quadcopter with one fully damaged rotor using on-board MARG Sensors Title Attitude Estimation of a Quadcopter with one fully damaged rotor using on-board MARG Sensors Author Solanki, Prashant (TU Delft Aerospace Engineering) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2020-10-07 Abstract Quadcopters are becoming increasingly popular across diverse sectors such as mapping, photography, or surveillance. Since rotor damages occur frequently, it is essential to improve the attitude estimation and thus ultimately the ability to control a damaged quadcopter. The Control and Simulation group of TU Delft developed a quadcopter controller for the case of a single damaged rotor in an inside environment, where the attitude and position of the quadcopter are provided by an external system. In the present research, a novel attitude estimator called Adaptive Fuzzy Complementary Kalman Filter (AFCKF) has been developed and validated that works independently of any external systems. It is able to estimate the attitude of a quadcopter with one fully damaged rotor while only relying on the on-board sensors. The results show that the AFCKF is able to provide significantly better attitude estimates for flights with a damaged rotor than mainstream filters, estimating the roll and pitch of the quadcopter with an RMS error of less than 1.7 degrees and a variance of less than 2 degrees. It is the only filter that is able to track the quadcopter's yaw angle for the case of a damaged rotor, while showing only a comparatively small rise in the computational cost. Subject Attitude EstimationQuadcopterMARG sensorKalman filterComplementary filterDamaged rotorfuzzy logicState estimationFilter comparison To reference this document use: http://resolver.tudelft.nl/uuid:43b7a1c8-7b67-48a4-97b0-7fe9c8af884a Embargo date 2021-02-28 Coordinates 51.989995, 4.375311 Part of collection Student theses Document type master thesis Rights © 2020 Prashant Solanki Files PDF Thesis_report_Prashant_solanki.pdf 22.5 MB Close viewer /islandora/object/uuid:43b7a1c8-7b67-48a4-97b0-7fe9c8af884a/datastream/OBJ/view