期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2018
卷号：16
期号：2
页码：868-875
DOI：10.12928/telkomnika.v16i2.9020
语种：English
出版社：Universitas Ahmad Dahlan
其他摘要：This paper proposes a sensor fusion algorithm by complementary filter technique for attitude estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm. The complementary filter scaling factor K 1 =0.98 and K 2 =0.02 are used to merge both gyro and accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from the low cost IMU by using proposed sensor fusion algorithm.
