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Using IMU Sensor and EKF Algorithm in Attitude Control of a Quad-Rotor Helicopter

  • Jongwoo An
  • Jangmyung LeeEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

The level of interest regarding Unmanned Aerial Vehicles (UAVs), such as a Quad-Rotor, has been increased recently. UAVs can effectively carry out various monitoring tasks for disasters, life-saving situations, environmental conditions, traffic congestion and military reconnaissance. This paper presents a new attitude control method for a quad-rotor based on IMU sensor and EKF algorithm. The proposed method can enable a quad-rotor to achieve stable operation in the harsh ocean environment with unexpected disturbance and dynamic changes.

Keywords

EKF IMU HDR Quad-rotor 

Notes

Acknowledgements

This research was supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea, under the Industry Convergence Liaison Robotics Creative Graduates Education Program supervised by KIAT(N0001126).

This research was a part of the project titled ‘Developments of Drone Docking System equipped Leisure Boat for Drone surfing and operating’, funded by Ministry of Oceans and Fisheries, Korea.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Pusan National UniversityBusanRepublic of Korea

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