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Improved Kalman Filtering for Attidude and Position Control of a Quadrotor using Optical Flow


Laurens Mackay, Tobias Nägeli

Semester Thesis, FS 11 (10081)

In this semester thesis the low level stabilization of a quadrotor is improved. An optical flow sensor module is developed and used to estimate the velocity over ground. To allow the extraction of translational velocity an attitude filter with offset-less angular rate estimation is implemented. Further an altitude estimation with usage of sonar sensor and barometer is worked out to scale the optical flow velocity.


Type of Publication:

(13)Semester/Bachelor Thesis

A.B. Hempel

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% Autogenerated BibTeX entry
@PhdThesis { MacN_g:2011:IFA_4146
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