Software complex of algorithms for autonomous determination of the angular orientation parameters of unmanned aerial vehicles


DOI: 10.34759/trd-2022-124-17

Аuthors

Ermakov P. G.*, Gogolev A. A.**

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: pavel-ermakov-1998@mail.ru
**e-mail: kirbizz8@yandex.ru

Abstract

The article «Software complex of algorithms for autonomous determination of the angular orientation parameters of unmanned aerial vehicles» by P.G.Ermakov and A.A.Gogolev compares three approaches used for an Attitude and Heading Reference System (AHRS), namely Mahony, Madgwick and Complementary filters.

For attitude determination on UAV’s board widely used a magnetic and inertial measurement unit (MIMU). MIMU consists of a 3-axis MEMS gyroscope, accelerometer and magnetometer. The accelerometer measures the acceleration of a UAV, the gyrosocope measures the angular rate of a moving object, and the magnetometer measures the Earth’s magnetic field.

So, Mahony uses a proportional and integral controller to correct the gyroscope bias, Madgwick uses the gradient-descent algorithm. Both approaches use a quaternion representation, which a four-dimensional complex number representing the orientation of an object. A Complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyroscope output for high frequency estimation. Madgwick obtains better heading orientation than Mahony and Complementary AHRS approach in respect of the root mean square error (RMSE) of the Euler angles when compared to the motion capture system.

Keywords:

fusion algorithms, simulation modelling, unmanned aerial vehicle, magnetometers, accelerometers, gyros, Mahony filter, Madgwick filter, Complementary filter

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