System identification for an autonomous quadrotor using extended and unscented kalman filters
This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to be typical estimation techniques used to estimate the state vectors and parameters of...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/14162/ http://irep.iium.edu.my/14162/1/iccas2011.pdf |
| _version_ | 1848777658587938816 |
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| author | Abas, Norafizah Legowo, Ari Akmeliawati, Rini |
| author_facet | Abas, Norafizah Legowo, Ari Akmeliawati, Rini |
| author_sort | Abas, Norafizah |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the
implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to
be typical estimation techniques used to estimate the state vectors and parameters of nonlinear dynamical systems. In
this paper, three main processes are highlighted; dynamic modeling of the quadrotor, the implementation of EKF and
the implementation of UKF algorithms. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performances of EKF and UKF based on the flight test applied to the quadrotor system. |
| first_indexed | 2025-11-14T14:49:29Z |
| format | Proceeding Paper |
| id | iium-14162 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:49:29Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-141622012-01-09T07:24:11Z http://irep.iium.edu.my/14162/ System identification for an autonomous quadrotor using extended and unscented kalman filters Abas, Norafizah Legowo, Ari Akmeliawati, Rini TJ212 Control engineering This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to be typical estimation techniques used to estimate the state vectors and parameters of nonlinear dynamical systems. In this paper, three main processes are highlighted; dynamic modeling of the quadrotor, the implementation of EKF and the implementation of UKF algorithms. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performances of EKF and UKF based on the flight test applied to the quadrotor system. 2011 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/14162/1/iccas2011.pdf Abas, Norafizah and Legowo, Ari and Akmeliawati, Rini (2011) System identification for an autonomous quadrotor using extended and unscented kalman filters. In: 11th International Conference on Control, Automation and Systems, Oct. 26-29, 2011, Gyeonggi-do, Korea. |
| spellingShingle | TJ212 Control engineering Abas, Norafizah Legowo, Ari Akmeliawati, Rini System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title | System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title_full | System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title_fullStr | System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title_full_unstemmed | System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title_short | System identification for an autonomous quadrotor using extended and unscented kalman filters |
| title_sort | system identification for an autonomous quadrotor using extended and unscented kalman filters |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/14162/ http://irep.iium.edu.my/14162/1/iccas2011.pdf |