Precise Model of Multicopter for Development of Algorithms for Autonomous Flight

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F13%3APU105374" target="_blank" >RIV/00216305:26220/13:PU105374 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-02294-9" target="_blank" >http://dx.doi.org/10.1007/978-3-319-02294-9</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-02294-9" target="_blank" >10.1007/978-3-319-02294-9</a>

Result language
angličtina
Original language name
Precise Model of Multicopter for Development of Algorithms for Autonomous Flight
Original language description
This article describes precise mathematical model of multicopter. The model can be easily implemented in various simulation environments like Simulink, Xcos etc. The advantage of using mathematical models for development of navigational, control and attitude estimation algorithms lies in the impossibility to damage the real platform and in the knowledge of all state variables. The model is based on classical free rigid body dynamics driven by forces and moments. The quaternions are used for attitude representation for nonsingular operation. This rigid body dynamics are extended by precise models of inertial and magnetic sensors, by motors thrusts to forces and torques relations and by precise model of aerodynamic drag forces and torques.
Czech name
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Czech description
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Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Mechatronics 2013, Recent Technologycal and Scientific Advances
ISBN
978-3-319-02293-2
ISSN
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e-ISSN
—
Number of pages
8
Pages from-to
519-526
Publisher name
Springer
Place of publication
Switzerland
Event location
Brno
Event date
Oct 7, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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